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Keywords: manipulator dynamics
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Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. January 2012, 134(1): 011022.
Published Online: December 6, 2011
... supporting system. 16 10 2010 22 06 2011 06 12 2011 06 12 2011 end effectors manipulator dynamics nonlinear control systems PD control cable-supporting manipulator catenary dynamics nonlinear control trajectory tracking As one of the candidates...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. November 2011, 133(6): 061016.
Published Online: November 21, 2011
... is further examined on an experimental force control system testbed. 29 08 2008 21 04 2011 21 11 2011 21 11 2011 force control friction hysteresis manipulator dynamics friction model hysteresis behavior force control friction compensation This research...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2011, 133(5): 051001.
Published Online: July 19, 2011
... aerospace robotics attitude control differential equations end effectors feedback linear quadratic control manipulator dynamics motion control perturbation techniques vibration control free-floating space robot Kane’s dynamics nonholonomic constraints Free-floating space robotic...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2010, 132(5): 051011.
Published Online: August 24, 2010
... a relatively heavy load according to the desired impedance model. 11 06 2009 26 04 2010 24 08 2010 24 08 2010 force sensors manipulator dynamics robust control stability 1 The impedance control to shape the force-response of a manipulator in contact with environment...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2010, 132(4): 041006.
Published Online: June 16, 2010
... 2009 01 02 2010 16 06 2010 16 06 2010 couplings manipulator dynamics optimisation torque dynamic optimization reactionless four-bar linkage input torque Because of their zero reaction forces (excluding gravity) and moments at the base, the reactionless...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. May 2010, 132(3): 034503.
Published Online: April 21, 2010
... are not necessarily linear. closed loop systems flexible manipulators manipulator dynamics motion control numerical analysis stability In the past 2 decades, the stability of nonlinear controllers has been investigated in many contexts. The stability of gain-scheduled controllers or linear parameter...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. March 2009, 131(2): 021013.
Published Online: February 9, 2009
... are presented in detail, and the controller’s performance is evaluated, both in simulation and experimentally. Chattering was found to be quite severe, so the introduction of significant boundary layers was required. control system synthesis feedback linearisation techniques manipulator dynamics...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2007, 129(2): 182–193.
Published Online: August 11, 2006
... – 1969 . Tao , G. , 1997 , “ A Simple Alternative to the Barbălat Lemma ,” IEEE Trans. Autom. Control 0018-9286 10.1109/9.580878 , 42 ( 5 ), p. 698 . drives friction position control asymptotic stability torque control motion control manipulator dynamics 2007 American...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 914–921.
Published Online: April 12, 2006
... and the intellectual advantage of humans, the human extender was studied ( 1 ). dexterous manipulators control system synthesis force feedback robust control manipulator dynamics 01 02 2004 12 04 2006 2006 American Society of Mechanical Engineers ...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 811–819.
Published Online: April 5, 2006
... Lab. Uicker , J. J. , 1965 , “ On the Dynamic Analysis of Spatial Linkages Using 4x4 Matrices ,” Ph.D. thesis, Northwestern University, Evanston, IL. Hollerbach , J. M. , 1980 , “ A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 995–998.
Published Online: February 3, 2006
... 2006 manipulator kinematics manipulator dynamics path planning nonlinear dynamical systems nonlinear control systems optimal control manipulators inertia matrix dynamics matrix equations Motion planning is one of the most important problems in robotics. Dynamics, robust...
Journal Articles
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2005, 127(4): 537–549.
Published Online: December 21, 2004
.... Of the various sensing technologies considered, a real-time vision system was determined to be the best choice for several reasons. Vision systems are noncontacting, do not interfere with manipulator dynamics, and have no moving or contacting parts that would add mass, stiffness, or damping. Additionally...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2005, 127(4): 529–536.
Published Online: November 30, 2004
... is given by m P , its mass center located at P , the centroid of the equilateral triangle, and the centroidal moment of inertia about an axis similarly oriented is I P . 3-DOF Planar parallel manipulator 23 11 2003 30 11 2004 manipulator dynamics...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2005, 127(2): 185–191.
Published Online: October 22, 2004
... mechanisms using rotational and/or spherical joints (Fig. 1 ). instead of sliding ones, are coming into use due to the fact that servo motors enjoy the ease of control and require less facilities than hydraulic actuators. acceleration control manipulator dynamics time-varying systems control...
Journal Articles
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. June 2005, 127(2): 289–294.
Published Online: August 9, 2004
... manipulators open loop systems control nonlinearities stability control system synthesis manipulator dynamics In recent years, major advances and progress have been made in the area of nonlinear control, such as feedback linearization, sliding control, and nonlinear adaptation techniques. However...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2004, 126(2): 365–375.
Published Online: August 5, 2004
... oscillations. This implies adopting a model of the system providing a realistic and complete representation of its dynamic behavior. flexible manipulators industrial manipulators manipulator dynamics 22 September 2003 05 08 2004 Contributed by the Dynamic Systems, Measurement...
Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2004, 126(2): 336–346.
Published Online: August 5, 2004
... of the follower-manipulators contacts, with the previously calculated contact forces as inputs. The nominal driving torques are determined on the basis of the obtained nominal trajectories of the contact points and nominal contact forces by using mathematical model of the manipulator dynamics. The procedure...