EXACT TIP TRAJECTORY TRACKING CONTROL OF A FLEXIBLE ROBOT ARM

Hossein Bolandi and Seyed M. Esmaeilzadeh

References

  1. [1] B. Siciliano, Control in robotics: Open problems and futuredirections, Proceeding of the IEEE International Conferenceon Control Applications, 1998, 81–85.
  2. [2] W.J. Book, O. Maizzo-Neto, & D.E. Whiteny, Feedback con-trol of two beam, two joint systems with distributed flexibil-ity, ASME Journal of Dynamics Systems Measurements andControl, 97, 1975, 424–431.
  3. [3] W.J. Book, Recursive Lagrangian dynamics of flexible manip-ulator arms, International Journal of Robotic Research, 3(3),1984, 87–101.
  4. [4] R.H. Cannon & J.E. Schmitz, Initial experiments on the endpoint control of a flexible one link robot, International Journalof Robotic Research, 3(3), 1984.
  5. [5] C.M. Okley & R.H. Cannon, Anatomy of an experimental two-link flexible manipulator under end point control, Proceeding ofthe IEEE Conference on Decision and Control, 1990, 507–513.
  6. [6] G.G. Hasting & W.J. Book, Verification of a linear dynamicmodel for flexible robotic manipulator, Proceeding of the IEEEConference on Robotics and Automation, 1986, 1024–1029.
  7. [7] G.G. Hasting & W.J. Book, A linear model for flexible roboticmanipulator, IEEE Control System Magazine 1(7), 1987,61–64.
  8. [8] M. Benosman & G. Levey, Control of flexible manipulators: Asurvey, Robotica, 22, 2004, 533–545.
  9. [9] S.K. Dwivedy & P. Eberhard, Dynamic analysis of flexiblemanipulators, a literature review, Mechanism and MachineTheory, 41, 2006, 749–777.
  10. [10] V. Gavriloiu, V. Yurkevich, & K. khorasani, A novel dynamiccontrol design scheme for flexible link manipulators, Proceedingof the IEEE Conference on Control Application, 2005, 595–600.
  11. [11] A. Deluca & G. Giovanni, Rest to rest motion of a one-linkflexible arm, Proceeding of the IEEE/ASME InternationalConference on Advanced Intelligent mechatronics, 2001,923–928.
  12. [12] M. Poloni, Co., Ulivi, Iterative trajectory tracking for flexiblearms with approximation models, 5th International Conferenceon Advanced Robotics, Pisa, 1991, 108–113.
  13. [13] D.-S. Kwon & W.J. Book, A time-domain inverse dynamicstracking control of a single-link flexible manipulators, ASMEJournal of Dynamics Systems, Measurement, and Control,116, 1994, 193–200.
  14. [14] A.R. Fraser & R.W. Daniel, Perturbation techniques for flexiblemanipulators (The Netherlands: Kluwer Academic, 1991).
  15. [15] H. Geniele, R.V. Patel, & K. Khorasani, Experimental resultson the control of a flexible link manipulator, Proceedings ofthe 36th Midwest Symposium on Circuits and Systems, 1993,237–240.
  16. [16] M.O. Tokhi & A.K.M. Azad, Flexible robot manipulators:Modeling, simulation and control (IET control engineeringseries 68, 2008).
  17. [17] F.Y. Wang & G.G. Guang, Influence of rotary inertia, sheardeformation and loading on vibration behaviors of flexiblemanipulators, Journal of Sound and Vibrations, 4(171), 1994,433–452.
  18. [18] F.Y. Wang, P. Zhou, & P. Lever, Dynamic effects of rotaryinertia and shear deformation on flexible manipulators, Pro-ceeding of the IEEE International Conference on Systems,Man, and Cybernetics, 1996, 2315–2320.
  19. [19] L. Meirovitch, Dynamics and control of structures (New York:John Wiley and Sons, 1990).
  20. [20] H. Bolandi & S.M. Esmaeilzadeh, Analytical modeling andnonlinear strain feedback control of a flexible robot arm,Automatic Control and Computer Science, 5, 2008, 15–30.
  21. [21] Z. Mohamed & M.O. Tokhi, A symbolic manipulation approachfor modeling and performance analysis of flexible manipulatorsystems, International Journal of Acoustic and Vibration, 2002,27–37.
  22. [22] J.H. Yang, F.L. Lian, & L.C. Fu, Adaptive robust controlfor flexible manipulator, Proceeding of the IEEE InternationalConference on Robotics and Automation, 1995, 1223–1228.
  23. [23] M.A. Arteaga, On the properties of a dynamic model of flexiblerobot manipulators, ASME Journal of Dynamics Systems,Measurement, and Control, 120, 1998, 8–14.
  24. [24] J. Yang, F. Liu, & L. Fu, Nonlinear control for flexible linkmanipulators, Proceedings of the IEEE Conference on Roboticsand Automation, 1994, 327–322.
  25. [25] J.H. Yang, Nonlinear adaptive control for flexible-link manip-ulators, IEEE Transactions on Robotics and Automation, 13,1997, 140–148.

Important Links:

Go Back