Modeling and Robust Control of Two Collaborative Robot Manipulators Handling a Flexibile Object
暂无分享,去创建一个
[1] Petar V. Kokotovic,et al. Singular perturbations and time-scale methods in control theory: Survey 1976-1983 , 1982, Autom..
[2] M. Spong,et al. Robot Modeling and Control , 2005 .
[3] Suguru Arimoto,et al. Stability and robustness of PID feedback control for robot manipulators of sensory capability , 1984 .
[4] T. Ishida. Force Control in Coordination of Two Arms , 1977, IJCAI.
[5] Werner Kraus,et al. Case studies in the manipulation of flexible parts using a hybrid position/force approach , 1997, Proceedings of International Conference on Robotics and Automation.
[6] Mohammad Eghtesad,et al. Vibration Control and Trajectory Tracking for General In-Plane Motion of an Euler–Bernoulli Beam Via Two-Time Scale and Boundary Control Methods , 2008 .
[7] M. Spong. On the robust control of robot manipulators , 1992 .
[8] Amnon Pazy,et al. Semigroups of Linear Operators and Applications to Partial Differential Equations , 1992, Applied Mathematical Sciences.
[9] J. Slotine,et al. On the Adaptive Control of Robot Manipulators , 1987 .
[10] W. Thomson. Theory of vibration with applications , 1965 .
[11] Mansour Karkoub,et al. Modelling and control of two robotic manipulators handling a constrained object , 2000 .
[13] Yuan F. Zheng,et al. Trajectory planning for two manipulators to deform flexible beams , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.
[14] Petar V. Kokotovic,et al. Singular perturbations and order reduction in control theory - An overview , 1975, at - Automatisierungstechnik.
[15] Mark W. Spong,et al. Adaptive control of flexible joint manipulators: Comments on two papers , 1995, Autom..
[16] Hamed Jafarian,et al. Two-Time Scale Control and Observer Design for Trajectory Tracking of Two Cooperating Robot Manipulators Moving a Flexible Beam , 2007, 2007 American Control Conference.
[17] Liu Hsu,et al. Experimental results on variable structure adaptive robot control without joint velocity measurement , 1995, Proceedings of 1995 American Control Conference - ACC'95.
[18] Chun-Yi Su,et al. Adaptive control for a constrained robot without using a regressor , 1996 .
[19] Vadim I. Utkin,et al. Chattering Problem in Sliding Mode Control Systems , 2006, International Workshop on Variable Structure Systems, 2006. VSS'06..
[20] T. Tarn,et al. Dynamic coordination of two robot arms , 1986, 1986 25th IEEE Conference on Decision and Control.
[21] Dong Sun,et al. Cooperative control of two-manipulator systems handling flexible objects , 1997 .
[22] Shuping Chen,et al. Gevrey class semigroups arising from elastic systems with gentle dissipation: the case 0<<\frac12 , 1990 .
[23] Yunhui Liu,et al. Stabilizing a flexible beam handled by two manipulators via PD feedback , 2000, IEEE Trans. Autom. Control..
[24] Y. Stepanenko,et al. Robust adaptive control of robotic manipulators without the regressor matrix , 1992 .
[25] D. Naidu,et al. Singular Perturbations and Time Scales in Guidance and Control of Aerospace Systems: A Survey , 2001 .
[26] Li-Chen Fu,et al. An adaptive control scheme for coordinated multimanipulator systems , 1993, IEEE Trans. Robotics Autom..
[27] M. de Mathelin,et al. Robust control of robot manipulators: A survey , 1999 .
[28] Roberto Horowitz,et al. Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators , 1990, Int. J. Robotics Res..
[29] Robert G. Bonitz,et al. Robust internal-force based impedance control for coordinating manipulators-theory and experiments , 1996, Proceedings of IEEE International Conference on Robotics and Automation.
[30] W. Arveson. Operators on Hilbert Space , 2002 .
[31] John J. Craig,et al. Hybrid position/force control of manipulators , 1981 .
[32] D. Russell,et al. A mathematical model for linear elastic systems with structural damping , 1982 .
[33] Robert G. Bonitz,et al. Internal force-based impedance control for cooperating manipulators , 1996, IEEE Trans. Robotics Autom..
[34] Shuzhi Sam Ge,et al. Improving regulation of a single-link flexible manipulator with strain feedback , 1998, IEEE Trans. Robotics Autom..
[35] Hikaru Inooka,et al. Cooperative control of a vibrating flexible object by a rigid dual-arm robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.
[36] F. Huang. On the mathematical model for linear elastic systems with analytic damping , 1988 .
[37] A. A. Goldenberg,et al. An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots , 1993 .
[38] P. Dorato,et al. Survey of robust control for rigid robots , 1991, IEEE Control Systems.
[39] Z. Luo,et al. Further theoretical results on direct strain feedback control of flexible robot arms , 1995, IEEE Trans. Autom. Control..
[40] İbrahim Uzmay,et al. Application of robust and adaptive control techniques to cooperative manipulation , 2004 .
[41] Yun-Hui Liu,et al. Position control of multiple robots manipulating a flexible payload , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).
[42] Werner Kraus,et al. Control of Flexible Load Deformations and Environment Contact Forces in Dual-Arm Manipulation , 1996 .
[43] Yunhui Liu,et al. Modeling and impedance control of a two-manipulator system handling a flexible beam , 1997, Proceedings of International Conference on Robotics and Automation.
[44] Richard Colbaugh,et al. Adaptive regulation of rigid-link electrically-driven manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.
[45] Romeo Ortega,et al. Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.
[46] Tien C. Hsia,et al. Modeling and control of two manipulators handling a flexible object , 2007, J. Frankl. Inst..
[47] Werner Kraus,et al. Force fields in the manipulation of flexible materials , 1996, Proceedings of IEEE International Conference on Robotics and Automation.
[48] Frank L. Lewis,et al. Robot Manipulator Control: Theory and Practice , 2003 .
[49] Andrew A. Goldenberg,et al. An adaptive approach to motion and force control of multiple coordinated robot arms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.
[50] Hassan K. Khalil,et al. Singular perturbation methods in control : analysis and design , 1986 .
[51] P. Chiacchio,et al. Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators , 2008, IEEE/ASME Transactions on Mechatronics.
[52] Yuanchun Li,et al. Modeling and control of two manipulators handling a flexible payload based on singular perturbation , 2010, 2010 2nd International Conference on Advanced Computer Control.
[53] Jean Louis Soulé. Linear operators in Hilbert space , 1968 .
[54] S. Ali A. Moosavian,et al. Cooperative object manipulation with contact impact using multiple impedance control , 2010 .
[55] Ryozo Katoh,et al. Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems , 2003, IEEE Trans. Robotics Autom..
[56] James K. Mills,et al. Multi-robot control for flexible fixtureless assembly of flexible sheet metal auto body parts , 1996, Proceedings of IEEE International Conference on Robotics and Automation.
[57] Y. Sakawa,et al. Modeling and control of coupled bending and torsional vibrations of flexible beams , 1989 .
[59] Fumitoshi Matsuno,et al. Modeling and feedback control of a flexible arm , 1985, J. Field Robotics.
[60] Marco A. Arteaga. Robot control and parameter estimation with only joint position measurements , 2003, Autom..
[61] C. Alford,et al. Coordinated control of two robot arms , 1984, ICRA.
[62] Chun-Yi Su,et al. Adaptive sliding mode coordinated control of multiple robot arms attached to a constrained object , 1995, IEEE Trans. Syst. Man Cybern..
[63] E. Kreyszig. Introductory Functional Analysis With Applications , 1978 .
[64] Chun-Yi Su,et al. Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.
[65] Yunhui Liu,et al. Model-based adaptive hybrid control for geometrically constrained robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.
[66] Zoe Doulgeri,et al. Modeling and dual arm manipulation of a flexible object , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.
[67] W. F. Dellinger,et al. Interactive force dynamics of two robotic manipulators grasping a non-rigid object , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.
[68] E. Nakano,et al. Cooperational Control of the Anthropomorphous Manipulator "MELARM" , 1974 .
[69] Stephen J. Elliott,et al. Modal response of a beam with a sensor–actuator pair for the implementation of velocity feedback control , 2005 .
[70] Robert G. Bonitz,et al. Force-Based Impedance Control for Cooperating Manipulators , 1996 .
[71] Masayoshi Tomizuka,et al. Adaptive coordinated control of multiple manipulators handling a constrained object , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.
[72] Liu Hsu,et al. Adaptive control with discontinuous σ-factor and saturation for improved robustness , 1987 .
[73] Alain Fournier,et al. Hybrid control of a two-arm robot for complex tasks , 1989, Robotics Auton. Syst..
[74] Nurkan Yagiz,et al. Load transportation by dual arm robot using sliding mode control , 2010 .
[75] P. Olver. Nonlinear Systems , 2013 .
[76] F. Karray,et al. A Robust Hybrid Intelligent Position/Force Control Scheme for Cooperative Manipulators , 2007, IEEE/ASME Transactions on Mechatronics.
[77] Weiping Li,et al. Applied Nonlinear Control , 1991 .
[78] J. Y. S. Luh,et al. Constrained Relations between Two Coordinated Industrial Robots for Motion Control , 1987 .
[79] M. Mangel. Singular Perturbation Methods in Control: Analysis and Design (Petar Kokotovic, Hassan K. Khalil, and John O’Reilly) , 1988 .
[80] Masaru Uchiyama,et al. A symmetric hybrid position/force control scheme for the coordination of two robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.
[81] R. Goertz. FUNDAMENTALS OF GENERAL-PURPOSE REMOTE MANIPULATORS , 1952 .
[82] Jiabin Wang,et al. Co-ordinated control of multiple robotic manipulators handling a common object-theory and experiments , 1997 .
[83] Y. D. Song. Adaptive Motion Tracking Control of Robot Manipulators , 1994 .
[84] Michael W. Walker,et al. Adaptive coordinated motion control of two manipulator arms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.
[85] Youn-sik Park,et al. Optimal input design for a cooperating robot to reduce vibration when carrying flexible objects , 2001, Robotica.
[86] Toshio Fukuda,et al. Manipulation of sheet metal by dual manipulators based on finite element model , 1995, Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics.
[87] Joseph Duffy,et al. The fallacy of modern hybrid control theory that is based on "orthogonal complements" of twist and wrench spaces , 1990, J. Field Robotics.
[88] Desineni S Naidu,et al. Singular perturbations and time scales in control theory and applications: An overview , 2002 .
[89] Yuan F. Zheng,et al. Strategies for automatic assembly of deformable objects , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.
[90] M. Balas. Direct Velocity Feedback Control of Large Space Structures , 1979 .
[91] Masaru Uchiyama,et al. Hybrid position/Force control for coordination of a two-arm robot , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.
[92] James K. Mills,et al. Robotic fixtureless assembly of sheet metal parts using dynamic finite element models: modelling and simulation , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.
[93] Yunhui Liu,et al. Position and force tracking of a two-manipulator system manipulating a flexible beam , 2001, J. Field Robotics.
[94] Hikaru Inooka,et al. Stability of control system in handling of a flexible object by rigid arm robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.
[95] Chun-Yi Su,et al. Real-time implementation of regressor-based sliding mode control algorithm for robotic manipulators , 1993, IEEE Trans. Ind. Electron..
[96] Shaheen Ahmad,et al. Lyapunov-based control design for multiple robots handling a common object , 1993 .
[97] Tetsuro Yabuta,et al. Experimental comparison of master/slave and hybrid two arm position/force control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.
[98] Z. Luo. Direct strain feedback control of flexible robot arms: new theoretical and experimental results , 1993, IEEE Trans. Autom. Control..
[99] S. Hayati. Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.
[100] Yuan F. Zheng,et al. Two robot arms in assembly , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.
[101] Jung-Hua Yang. Adaptive tracking control for manipulators with only position feedback , 1999, Engineering Solutions for the Next Millennium. 1999 IEEE Canadian Conference on Electrical and Computer Engineering (Cat. No.99TH8411).
[102] Tien C. Hsia,et al. Internal force-based impedance control of dual-arm manipulation of flexible objects , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).