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TECHNICAL PAPERS

Control of Flexible-Link Multiple Manipulators

[+] Author and Article Information
Qiao Sun

Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, Alberta, Canada, T2N 1N4e-mail: qsun@ucalgary.ca

J. Dyn. Sys., Meas., Control 124(1), 67-75 (Jun 04, 2001) (9 pages) doi:10.1115/1.1435362 History: Received June 04, 2001
Copyright © 2002 by ASME
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References

Orin,  D. E., and Oh,  S. Y., 1981, “Control of force distribution in robotic mechanisms containing closed kinematic chains,” ASME J. Dyn. Syst., Meas., Control, 103, No. 2, pp. 134–141.
De Luca, A., Panzieri, S., and Ulivi, G., 1998, “Stable inversion control for flexible link manipulators,” Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May.
Wang,  D., and Vidyasagar,  M., 1991, “Control of a class of manipulators with a single flexible link—part I: Feedback linearization,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 655–661, Dec.
Kwon,  D. S., and Book,  W. J., 1990, “A time-domain inverse dynamic tracking control of a single-link flexible manipulator,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 177–185, June.
Bayo,  E., Papadopoulos,  P., Stubbe,  J., and Serna,  M. A., 1989, “Inverse dynamics and kinematics of multi-link elastic robots: An iterative frequency domain approach,” Int. J. Robot. Res., 8, No. 6, pp. 49–62.
De Luca, A., and Siciliano, B., 1988, “Joint-based control of a nonlinear model of a flexible arm,” Proceeding of the 1988 American Control Conference, pp. 935–940, Atlanta, GA, June.
Yim,  W. and Singh,  S. N., 1995, “Inverse force and motion control of constrained elastic robots,” ASME J. Dyn. Syst., Meas., Control, 117, pp. 374–383, Sept..
Wang,  D., and Vidyasagar,  M., 1992, “Passive control of a stiff flexible link,” Int. J. Robot. Res., 11, No. 6,pp 572–578.
Park,  J. H., and Asada,  H., 1997, “Dynamic analysis of noncollocated flexible arms and design of torque transmission mechanisms,” ASME J. Dyn. Syst., Meas., Control, 116, pp. 201–207.
Nakamura, Y., Nagai, K., and Yoshikawa, T., 1987, “Mechanics of coordinative manipulation by multiple robotic mechanisms,” Proceedings of 1987 IEEE International Conference on Robotics and Automation, pp. 991–998, Raleigh.
Nahon,  M., and Angeles,  J., 1992, “Minimization of power losses in cooperating manipulators,” ASME J. Dyn. Syst., Meas., Control, 114, pp. 213–219.
Sun, Q., Nahon, M., and Sharf, I., 1996, “Minimizing the strain energy for flexible-link cooperating manipulators,” 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine, CA, Aug 18–22.
Sun,  Q., Sharf,  I., and Nahon,  M., 1999, “Stability analysis for the force distribution algorithm for flexible-link cooperating manipulators,” Journal of Mechanism and Machine Theory, 34, No. 5, pp. 753–763.
Walker,  I. D., Freeman,  R. A., and Marcus,  S. I., 1991, “Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators,” Int. J. Robot. Res., 10, No. 4, pp. 306–409.
A. Isidori, 1995, Nonlinear Control Systems, 3rd Edition, Springer-Verlag, Berlin.

Figures

Grahic Jump Location
Multiple flexible-link manipulators
Grahic Jump Location
Inverse dynamics controller
Grahic Jump Location
Four-bar linkage mechanism
Grahic Jump Location
The desired object trajectory
Grahic Jump Location
Simulation results for case 1
Grahic Jump Location
Simulation results for case 2
Grahic Jump Location
Simulation results for case 3

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