Methods of trajectory tracking for flexible link manipulators

AIAA Guidance, Navigation, and Control Conference and Exhibit

Volumn , Issue , 2002, Pages

  Green, A ^a   Sasiadek, J Z ^a  

^a CARLETON UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE FILTERING; COMPUTER CIRCUITS; EXTENDED KALMAN FILTERS; FLEXIBLE MANIPULATORS; FUZZY FILTERS; POSITION CONTROL; ROBOTS;

ADAPTIVE EXTENDED KALMAN FILTERS; ADVANCED CONTROL SCHEMES; FLEXIBLE-LINK MANIPULATORS; LINEAR QUADRATIC GAUSSIAN; LINEAR QUADRATIC REGULATOR; LINEARIZED KALMAN FILTERS; STRUCTURAL FLEXIBILITIES; TWO-LINK FLEXIBLE ROBOTS;

FUZZY LOGIC;

EID: 85088720423     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.2514/6.2002-4565     Document Type: Conference Paper

References (17)

1. Arimoto, S., Kawamura, S. and Miyazaki, F. "Bettering Operation of Robots by Learning". Journal of Robotic Systems, Vol 1, pp. 123-140, 1984.
2. Asada, H. and Slotine, J.J. E. "Robot Analysis and Control", John Wiley and Sons Inc., 1986.
3. Banerjee, A.K. & Singhose, W. "Command Shaping for Nonlinear Tracking Control of a Two-Link Flexible Manipulator," AIAA/AAS Astrodynamics Specialist Conference, Paper No. AAS 97-721, Sun Valley, Indiana, August 1997.
4. Banerjee, A.K. and Singhose, W. "Command Shaping in Tracking Control of a Two-Link Flexible Robot". AIAA Journal of Guidance, Dynamics and Control, Vol. 21, No. 6, pp. 1012-1015, Engineering Note, December 1998.
5. Brown, R.G. & Hwang, P.Y.C. "Introduction to Random Signals and Applied Kalman Filtering", John Wiley & Sons, 1997.
6. Green, A. and Sasiadek, J. Z. "Direct, Optimal, Stochastic and Fuzzy Control of a Two-Link Flexible Manipulator", AIAA Guidance, Navigation and Control Conference and Exhibit, Paper No. AIAA 2000-4375, Denver, Colorado, 14-17 August 2000.
7. th IFAC Symposium on Robot Control, Vienna University of Technology, 21-23 September 2000.
8. Green, A. and Sasiadek, J. Z. "Fuzzy and Optimal Control of a Two-Link Flexible Robot Manipulator", Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM'01), Como, Italy, 8-11 July 2001.
9. Green, A. and Sasiadek, J. Z. "Regular and Fuzzy Extended Kalman Filtering for a Two-Link Flexible Robot Manipulator". Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit, Paper No. AIAA 2001-4228, Montreal, Quebec, Canada, 6-9 August 2001.
10. Green, A. and Sasiadek, J. Z. "Inverse Dynamics and Fuzzy Learning Flexible Robot Control". IFAC 15th World Congress b'02, Barcelona, Spain, 21-26 July 2002.
11. Horowitz, R. "Learning Control of Robot Manipulators". ASME Journal of Dynamic Systems, Measurement, and Control, Vol 115, pp. 402-411, 1993.
12. Junkins, J. L. and Kim, Y. "Introduction to Dynamics and Control of Flexible Structures", American Institute of Aeronautics and Astronautics, Education Series, Przemieniecki, J. S. (Editor-in-Chief), 1993.
13. Passino, K.M. & Yurkovich, S. "Fuzzy Control", Addison-Wesley, March 1990.
14. Sasiadek, J.Z. and Wang, Q. "Sensor Fusion Based on Fuzzy Kalman Filtering for Autonomous Robot Vehicle", Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, May 1999.
15. Singhose, W. & Singer, N., "Effects of Input Shaping on Two-Dimensional Trajectory Following", IEEE Transactions on Robotics and Automation, Vol. 12 (6), pp. 881-887, 1996
16. Stengel, R.F. "Optimal Control and Estimation", Dover Publications Inc., 1994.
17. Weiss, G. "Repetitive Control Systems: Old and New Ideas". In: Systems and Control in the Twenty-First Century, (Byrnes, C., Datta, B., Gilliam, D. and Martin, C. (Ed)), pp. 389-404, Birkhäuser, Basel, 1997.