Motion Planning of Kinematically Redundant Adaptive Truss (Use of Redundancy for Vibration Reduction)

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

Volumn 41, Issue 4, 1998, Pages 852-859

  Hanahara, Kazuyuki ^a   Sugiyama, Yoshihiko ^b   Tanaka, Masao ^c  

^a KOBE UNIVERSITY   (Japan)

^b Osaka Prefecture University   (Japan)

^c OSAKA UNIVERSITY   (Japan)

Author keywords

Adaptive Truss; Dynamics; Motion Planning; Redundant Mechanism; Vibration

Indexed keywords

EID: 0040294466     PISSN: 13447653     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec.41.852     Document Type: Article

References (16)

1. Miura, K., Furuya, H. and Suzuki, K., Variable Geometry Truss and Its Application to Deployable Truss and Space Crane Arm, Acta Astronautica, Vol. 12, No. 7/8 (1985), p. 599-607.
2. Hughes, P.C., Sincarsin, W.G. and Carroll, K.A., Trussarm - A Variable-Geometry-Truss Manipulator, J. of Intell. Mater. Syst. & Struct., Vol. 2, No. 2 (1991), p. 148-160.
3. Baillieul, J., Avoiding Obstacles and Resolving Kinematic Redundancy, Proc. 1986 IEEE Int. Conf. Robotics & Auto. (1986), p. 1698-1704.
4. Kirćanski, M. and Vukobratović, M., Contribution to Control of Redundant Robotic Manipulators in an Environment with Obstacles, Int. J. Robot. Res., Vol. 5, No. 4 (1986), p. 112-119.
5. Seereeram, S. and Wen, J.T., A Global Approach to Path Planning for Redundant Manipulators, IEEE Trans. Robot. & Auto., Vol. 11, No. 1 (1995), p. 152-160.
6. Yoshikawa, T., Manipulability of Robotic Mechanisms, Int. J. Robot. Res., Vol. 4, No. 2 (1985), p. 3-9.
7. Yoshikawa, T., Dynamic Manipulability of Robot Manipulators, Transactions of the Society of Instrument and Control Engineers, Vol. 21, No. 9 (1985), p. 970-975.
8. Tanaka, M., Seguchi, Y. and Yamaguchi, T., Multi-Stage Motion Planning of Truss-Type Arm with High Redundancy, Trans. Jpn. Soc. Mech. Eng., (in Japanese), Vol. 55, No. 510, C (1989), p. 389-395.
9. Chirikjian, G.S. and Burdick, J.W., A Modal Approach to Hyper-Redundant Manipulator Kinematics, IEEE Trans. Robotics & Auto., Vol. 10, No. 3 (1994), p. 343-354.
10. Tanaka, M., Seguchi, Y. and Hanahara, K., Kinematics of Adaptive Truss Permitting Nodal Offset (Configuration and Workspace Reach), J. of Intell. Mater. Syst. & Struct., Vol. 2, No. 3 (1991), p. 301-327.
11. Baycan, M.C., Utku, S. and Wada, B.K., Control of Resonant Frequencies in Adaptive Structures by Prestressing, 2nd Jpn./US. Conf. on Adapt. Struct. (Matsuzaki, Y. and Wada, B.K. eds.) (1991), p. 297-314, Technomic.
12. Lu, L.Y., Utku, S. and Wada, B.K., Vibration Suppression for Large Scale Adaptive Truss Structures Using Direct Feedback Control, J. of Intell. Mater. Syst. & Struct., Vol. 4, No. 3 (1993), p. 385-397.
13. Miura, K., Space Structures and Applied Mechanics (Morphology in Space), Theor. & Appl. Mech., Vol. 37 (1987), p. 227-234, Univ. Tokyo Press.
14. Hanahara, K., Tanaka, M. and Sugiyama, Y., Dynamics of Adaptive Truss Having Nodal Offsets, Trans. Jpn. Soc. Mech. Eng., (in Japanese), Vol. 63, No. 606, C (1997), p. 371-379.
15. Rao, C.R. and Mitra, S.K., Generalized Inverse of Matrices and Its Applications (1973), Chap. 3, John Wiley & Sons.
16. Klein, C.A. and Huang, C.H., Review of Pseudo-Inverse Control for Use with Kinematically Redundant Manipulators, IEEE Trans. Sys., Man, & Cybern, Vol. SMC-13 (1983), p. 245-250.