Two-time scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam

Robotics and Autonomous Systems

Volumn 57, Issue 2, 2009, Pages 212-221

  Tavasoli, Ali ^a   Eghtesad, Mohammad ^a   Jafarian, Hamed ^a  

^a SHIRAZ UNIVERSITY   (Iran)

Author keywords

Cooperating robot manipulators; Flexible beam; Observer design; Two time scale control

Indexed keywords

CONTROL THEORY; CONTROLLERS; DESIGN; DYNAMICS; EQUATIONS OF MOTION; FLEXIBLE MANIPULATORS; FLEXIBLE STRUCTURES; INDUSTRIAL ROBOTS; MANIPULATORS; MODULAR ROBOTS; PROGRAMMING THEORY; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; SCALE (DEPOSITS); VIBRATION MEASUREMENT;

BEAM ORIENTATIONS; BEAM VIBRATIONS; CENTER OF MASS; COMPOSITE CONTROLS; CONTROL SCHEMES; CONTROLLER ALGORITHMS; COOPERATING ROBOT MANIPULATORS; COUPLED DYNAMICS; DYNAMICS EQUATIONS; END-EFFECTORS; FAST CONTROLS; FLEXIBLE BEAM; KINEMATICS AND DYNAMICS; LINEAR OBSERVERS; OBSERVER DESIGN; RIGID MOTIONS; RIGID ROBOTS; SIMULATION RESULTS; STABILIZING CONTROLLERS; TIME DOMAINS; TRAJECTORY TRACKING; TWO COOPERATING ROBOTS; TWO-TIME SCALE CONTROL;

MACHINE DESIGN;

EID: 58849099141     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.04.003     Document Type: Article

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