Experiments on the end-point control of a two-link robot with elastic drives

Hollars, Michael G.; Cannon, Robert H.

doi:10.2514/6.1986-1977

Cited by 9 publications

(6 citation statements)

References 5 publications

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“…The numerical trials revealed that the best trade-off between accuracy and the time involved in calculations is when the sampling period is divided into two parts: H RK^ = H/2. This result conforms to the observations 24 gathered for the case of free space control of flexible joint robots.…”

Section: Inverse Dynamics Control With Predictorssupporting

confidence: 91%

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Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

Jankowski

ElMaraghy

1994

Robotica

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SUMMARYA nonlinear feedback control based on inverse dynamics is proposed for robots with flexible joints during constrained motion task execution. Based on constrained system formalism, the presented control scheme achieves simultaneous, independent control of both position and contact force at the robot end-effector. The method can be directly applied to robot control, or it can be used as the basis for developing other advanced control strategies. In this paper, a. feedforward controller is considered. Issues related to the practical application of the full inverse dynamics and feedforward control algorithms, such as evaluation of feedback variables, the use of predictors to eliminate the time delay of digital control, and the design of robust controllers, are discussed. The results of extensive numerical simulation are used to show the effectiveness of the proposed controllers and to compare their performances. It is shown that it is possible to achieve high precision tracking if the appropriate predictors are used to eliminate the effect of computational delay of the digital controller. Applying a straightforward approach for robustness of the proposed controllers has additionally improved the trajectory tracking accuracy.

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Section: Inverse Dynamics Control With Predictorssupporting

confidence: 91%

“…This idea was adopted for flexible joint robots by Hollars. 24 It consists of the following measurement update:…”

Section: Estimation Of Feedback Variablesmentioning

confidence: 99%

Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

Jankowski

ElMaraghy

1994

Robotica

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“…12 ' 13 Although drive-system flexibility is a lumped flexibility, avoiding the proliferation of vibration modes associated with the one-link flexible arm, the two-link arm was the lab's first foray into highly nonlinear dynamic systems. Their control thus requires thoroughly solving the control problems associated with the chosen characteristic.…”

Section: The Two-link Flexible-drive Armmentioning

confidence: 99%

Control of Articulated and Deformable Space Structures

1989

Machine Intelligence and Autonomy for Aerospace Systems

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IntroductionMan's space efforts have reached the point of planning for extensive industrial activity in Earth orbit. Manned and unmanned space installations for space industrialization will require automatic control of attitude, orbit, and vibration without the necessity for regular human intervention. The control of large space structures (LSSs) will be complicated by long trusses, broad solar collectors, and heavy habitation and equipment modules.Small, independent unmanned modules to fill particular needs, such as sensitive materials processing, will also present unique control requirements related to structure and function, and will require regular servicing associated with operations.A key player in an extensive space facility will be the small, free-orbiting semiautonomous or autonomous space robot. The risk and expense of maintaining a human presence for the many routine functions that will continue to require extravehicular activity (EVA) would impose a major hardship. Routine supply and maintainance functions, especially involving coorbiting space installations, particularly suit automation using free-flying satellite robots that can emulate the EVA astronauts.Given this outlook, this chapter discusses the dynamic control of deformable space structures and articulated space robots. Controls for application to special-purpose space installations will be treated as well. In addition to outlining the control methods available for each class of structures, the chapter treats design of such structures and robots with an eye to their ease of controllability and functional suitability. This chapter is not intended to summarize the entire broad field of large-space-structure control, but rather aims at space installations for industrial applications, such as have been planned and can be expected to fly in the near term. The discussion of space robot control is intended to stimulate development of such robots for applications in connection with industrial space facilities.

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“…To name a few, the kinematics and statics of articulated tendon-driven robotics mechanisms were investigated by Morecki et al, 1 Salisbury, 2 and Tsai and Lee. 3 Controls of the tendon-driven manipulators were researched by Jacobsen et al, 4 Hollars and Cannon, 5 and Oh et al, 6 Dynamic analysis of tendondriven manipulators was studied by Lee and Lee, 7 Prisco and Bergamasco, 8 Voglewede and Ebert-Uphoff, 9 Barrette and Gosselin, 10 and Diao and Ma. 11 Even recently, some new technology in materials as electroactive polymers (EAP) has been proposed to emulate natural muscles and applied in the tendon-driven manipulators.…”

Section: Introductionmentioning

confidence: 99%

Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

2009

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SUMMARYThis work describes a systematic methodology for the synthesis of tendon-driven manipulators. A method for enumerating the topology of tendon routings is first established. To conform with the enumerated structures, the kinematic synthesis of the manipulator using singular value decomposition is then developed. Design equations for synthesizing a general tendon-driven manipulator with isotropic transmission characteristics are subsequently derived. It is shown that the design methodology may give designers wider selection in determining the tendon routing topology than prior methods by other literature.

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Experiments on the end-point control of a two-link robot with elastic drives

Cited by 9 publications

References 5 publications

Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

Control of Articulated and Deformable Space Structures

Kinematic synthesis of tendon-driven robotic manipulators using singular value decomposition

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