DYNAMIC MODELLING FOR COOPERATION SYSTEM OF FLEXIBLE ROBOTS MANIPULATING A CONSTRAINED OBJECT

Y.-Q. Yu and C.-X. Zhang

References

  1. [1] P.E. Caultier & W.L. Cleghorn, Modeling of flexible manip-ulator dynamics: A literature survey, Proc. First NationalApplied Robot Conf., Vol. 2C-3, Cincinnati, OH, 1989, 1–10.
  2. [2] W.J. Book, Modeling, design, and control of flexible manipu-lators: A tutorial review, Proc. 29th IEEE Conf. on Decisionand Control, Honolulu, Howaii, 1990, 500–506.
  3. [3] J. Gudino-Lau & A.M. Arteaga, Dynamic model and simulationof cooperative robots: A case study, Robotica, 23 (53), 2005,615–624. doi:10.1017/S0263574704001213
  4. [4] D. Sun & Y. Liu, Modeling and impedance control of a two-manipulator system handling a flexible beam, Trans. ASME,Journal of Dynamics, System, Measurement and Control, 119,1997, 736–762.
  5. [5] W.-H. Zhu, On adaptive synchronization control of coordinatedmultirobots with flexible/rigid constraints, IEEE Trans. onRobotics and Automation, 21 (3), 2005, 520–525.
  6. [6] C.J. Damaren, On the dynamics and control of flexible multi-body system with closed loops, International Journal ofRobotics Research, 19 (3), 2000, 238–253. doi:10.1177/02783640022066842
  7. [7] Q. Sun, I. Sharf, & M. Nahon, Stability analysis of the force dis-tribution algorithm for flexible-link cooperating manipulators,Mechanism and Machine Theory, 34, 1999, 753–763. doi:10.1016/S0094-114X(98)00053-6
  8. [8] D. Sun & J.K. Mills, Position control of robot manipula-tors manipulating a flexible payload, International Journal ofRobotics Research, 18 (3), 1999, 319–332. doi:10.1177/02783649922066231
  9. [9] Q. Sun, Control of flexible-link multiple manipulators, Trans.ASME, Journal of Dynamic System, Measurement, and Con-trol, 124, 2002, 67–75.
  10. [10] T. Yoshikawa, Dynamic hybrid position/force control of robotmanipulators: Description of hand constraints and calculationof joint driving force, IEEE Trans. on Robotics and Automation,3 (5), 1987, 386–392.
  11. [11] N.H. McClamroch & D. Wang, Feedback stabilization andtracking in constrained robots, IEEE Trans. on Automationand Control, 33 (5), 1988, 419–426.7 doi:10.1109/9.1220
  12. [12] A. De Luca & C. Manes, Modeling of robots in contactwith a dynamic environment, IEEE Trans. on Robotics andAutomation, 10 (4), 1994, 269–274. doi:10.1109/70.313104
  13. [13] M. Vukobratovic & V. Potkonjak, Dynamics of contact tasksin robotics, Part 1: General model of robot interacting withenvironment, Mechanism and Machine Theory, 34, 1999, 923–942.
  14. [14] Y.-R. Hu, A.A. Goldenberg, & C. Zhou, Motion and forcecontrol of coordinated robots during constrained motion tasks,International Journal of Robotics Research, 14 (4), 1995, 351–365. doi:10.1177/027836499501400404
  15. [15] D.J. Latornel, D.B. Cherchas, & R. Wang, Dynamic charac-teristics of constrained manipulators for contact force controldesign, International Journal of Robotics Research, 17 (3),1998, 211–231. doi:10.1177/027836499801700301
  16. [16] M. Zivonovic & M. Vukobratovic, General mathematical modelof multi-arc cooperating robots with elastic interconnectionat the contact, Trans. ASME, Journal of Dynamic System,Measurement, and Control, 119, 1997, 707–717.
  17. [17] F. Matsuno, T. Asano, & Y. Sakawa, Modeling and quasi-statichybrid position/force control of constrained planar two-linkflexible manipulator, IEEE Trans. on Robotics and Automation,10 (3), 1994, 287–297. doi:10.1109/70.294204
  18. [18] T. Yoshikawa & X.Z. Zheng, Coordinated dynamic hybridposition/force control for multiple robot manipulators hand-ing one constrained object, International Journal of RoboticsResearch, 12 (3), 1993, 219–230. doi:10.1177/027836499301200302
  19. [19] K. Jankowski et al., Dynamic coordination of multiple robotarms with flexible joints, International Journal of RoboticsResearch, 12 (6), 1993, 505–528. doi:10.1177/027836499301200601
  20. [20] J.C. Simo & L. Vu-Quoc, On the dynamics of flexible beamsunder large overall motions: The plane case, Part 1, ASMETrans., Journal of Applied Mechanics, 53, 1986, 849–854.
  21. [21] J.C. Simo & L. Vu-Quoc, On the dynamics of flexible beamsunder large overall motions: The plane case, Part 2, ASMETrans., Journal of Applied Mechanics, 53, 1986, 855–863.
  22. [22] Z. Yang & J.P. Sadler, Large-displacement finite element anal-ysis of flexible linkages, ASME Trans., Journal of MechanicalDesign, 112, 1990, 175–182.
  23. [23] Z. Yang & J.P. Sadler, An one-pass approach to dynamicsof high-speed machinery through three-node Lagrangian beamelements, Mechanism and Machine Theory, 34, 1999, 995–1007. doi:10.1016/S0094-114X(98)00084-6
  24. [24] C.X. Zhang & Y.Q. Yu, Dynamic modeling of multiple robotarms with joint and link flexibility, Proc. 2002 ASME Conf.,Montreal, 2002, DETC2002/MECH-34215, Vol. 5A, pp. 165–170.
  25. [25] I.D. Walker, R.A. Freeman, & S.I. Marcus, Analysis of motionand internal loading of objects grasped by multiple cooperat-ing manipulators, International Journal of Robotics Research,10 (4), 1991, 369–409.
  26. [26] Y.H. Liu & S. Arimoto, Decentralized adaptive and non-adaptive position/force controllers for redundant manipulatorsin cooperation, International Journal of Robotics Research,17 (3), 1998, 232–247. doi:10.1177/027836499801700302
  27. [27] C.X. Zhang, Dynamic analysis and programming of cooperativeflexible manipulators, doctoral diss., Beijing University ofTechnology, Beijing, China, 2002.

Important Links:

Go Back