Causal end-effector inversion of a flexible link manipulator
Tài liệu tham khảo
Isidori, 1990, Output regulation of nonlinear system, IEEE Trans Automat Contr, 35, 131, 10.1109/9.45168
De Luca, 1991, Tip trajectory tracking in flexible arms: comparison of approaches based on regulation theory, Lect Notes Contr Inform Sci, 162, 190, 10.1007/BFb0039272
Yuan, 2003, On the stability of zero dynamics of a single-link flexible manipulator for a class of parametrized output, J Robot Syst, 20, 581, 10.1002/rob.10109
Devasia, 1996, Nonlinear inversion-based output tracking, IEEE Trans Automat Contr, 41, 930, 10.1109/9.508898
Bayo, 1989, A finite-element approach to control the end-point motion of a single link flexible robot, J Robot Syst, 4, 63, 10.1002/rob.4620040106
Kwon, 1994, Time-domain inverse dynamic tracking control of a single-link flexible manipulator, J Dyn Syst Measur Contr, 116, 193, 10.1115/1.2899210
Devasia, 1999, Approximated stable inversion for nonlinear system with nonhyperbolic internal dynamics, IEEE Trans Automat Contr, 44, 1419, 10.1109/9.774114
Bensoman, 2003, Stable inversion of SISO nonminimum phase systems through output planning: an experimental application to the one-link flexible manipulator, IEEE Trans Contr Syst Technol, 11, 588, 10.1109/TCST.2003.813372
Wang, 2006, Output tracking control of a one-link flexible manipulator via causal inversion, IEEE Trans Contr Syst Technol, 14, 141, 10.1109/TCST.2005.859628
Vakil M, Fotouhi R, Nikiforuk PN. Causal Inversion of a single-link flexible link manipulator via output planning. In: Proceedings of the IEEE international conference on mechatronics and automation, Ontario, Canada; 2005. p. 376–81.
Fotouhi, 2007, Dynamic analysis of a very flexible beam, J Sound Vib, 305, 521, 10.1016/j.jsv.2007.01.032
Zhang, 2005, PDE modeling and control of a flexible two-link manipulator, IEEE Trans Contr Syst Technol, 13, 301, 10.1109/TCST.2004.842446
Book, 1984, Recursive Lagrangian dynamic of flexible manipulator arms, Int J Robot Res, 3, 87, 10.1177/027836498400300305
Vakil, 2008, A constrained Lagrange formulation of multilink planar flexible manipulator, ASME J Vib Acoust, 130, 1, 10.1115/1.2827455
Slotine, 1991
Khalil, 2002
ANSYS, Release 11, Release 11 Documentation for ANSYS, element reference. <http://www.ansys.com>.
Paden, 1993, Exponentially stable tracking control for multi-joint flexible-link manipulators, ASME J Dyn Syst Measur Contr, 115, 53, 10.1115/1.2897407
Singhose WE. Command generation for flexible systems. Ph.D. thesis. Cambridge, MA, USA: Massachusetts Institute of Technology; 1997.
Vakil M. Dynamics and control of flexible manipulators. Ph.D. thesis. Saskatoon, SK, Canada: University of Saskatchewan; 2008.
Lawrence, 2005, Friction-compensating command shaping for vibration reduction, ASME J Vib Acoust, 127, 307, 10.1115/1.1924637
de Wit, 1995, A new model for control of systems with friction, IEEE Trans Automat Contr, 40, 419, 10.1109/9.376053
Salmasi, 2009, Tip trajectory tracking of flexible-joint manipulators driven by harmonic drives, Int J Robot Automat, 24
Bona, 2006, Rapid prototyping of model-based control with friction compensation for a direct-drive robot, IEEE/ASME Trans Mech, 11, 576, 10.1109/TMECH.2006.882989
Liu, 2001, Estimation and compensation of gravity and friction forces for robot arms: theory and experiments, J Intell Robot Syst, 31, 339, 10.1023/A:1012089607929
Kelly, 2000, A measurement procedure for viscous and Coulomb friction, IEEE Trans Instrum Measur, 49, 857, 10.1109/19.863938
Kermani, 2007, Friction identification and compensation in robotic manipulators, IEEE Trans Instrum Measur, 56, 2346, 10.1109/TIM.2007.907957