Velocity field control of a class of electrically-driven manipulators

References

• Berghuis , H and Nijmeijer , H . 1993 . A Passivity Approach to Controller-observer Design for Robots . IEEE Transactions on Robotics and Automation , 9 : 740 – 754 . doi: 10.1109/70.265918
   Google Scholar
• Burg , T , Dawson , D M , Hu , J and de Queiroz , M . 1996 . An Adaptive Partial State-feedback Controller for RLED Robot Manipulators . IEEE Transactions on Automatic Control , 41 : 1024 – 1030 . doi: 10.1109/9.508910
   Web of Science ®Google Scholar
• Canbolat , H , Hu , J and Dawson , D M . 1996 . A Hybrid Learning/Adaptive Partial State Feedback Controller for RLED Robot Manipulators . International Journal of Systems Science , 27 : 1123 – 1132 . doi: 10.1080/00207729608929319
   Web of Science ®Google Scholar
• Canudas de Wit , C , Siciliano , B and Bastin , G . 1996 . Theory of Robot Control , London : Springer-Verlag .
   Google Scholar
• Cervantes , I , Kelly , R , Alvarez-Ramirez , J and Moreno , J . 2002 . A Robust Velocity Field Controller . IEEE Transactions on Control Systems Technology , 10 : 888 – 894 . doi: 10.1109/TCST.2002.804126
   Web of Science ®Google Scholar
• Chan , S P . 2001 . An Efficient Algorithm for Identification of Robot Parameters Including Drive Characteristics . Journal of Intelligent and Robotic Systems , 32 : 291 – 305 . doi: 10.1023/A:1013918927148
   Web of Science ®Google Scholar
• Chang , Y-C , Yen , H-M and Wu , M-F . 2008 . An Intelligent Robust Tracking Control for Electrically-driven Robot Systems . International Journal of Systems Science , 39 : 497 – 511 . doi: 10.1080/00207720701832747
   Web of Science ®Google Scholar
• Chen , C-Y , Cheng , M-Y and Wang , Y-H . 2008 . “ Velocity Field Control for Free-form Contour Following Tasks by a Two Link Robot ” . In in Proceedings of the 2008 International Workshop on Robotic and Sensors Environments, ROSE 2008, October 64 – 69 . Ottawa, Canada
   Google Scholar
• Corke , P I . 1996 . In Situ Measurement of Motor Electrical Constants . Robotica , 14 : 433 – 436 . doi: 10.1017/S0263574700019834
   Web of Science ®Google Scholar
• Erdogan , A and Patoglu , V . 2011 . “ Online Generation of Velocity Fields for Passive Contour Following ” . In in Prooceedings of the 2011 IEEE World Haptics Conference (WHC), June 245 – 250 . Istanbul, Turkey
   Google Scholar
• Erdogan , A , Satici , A C and Patoglu , V . 2011 . Passive Velocity Field Control of a Forearm-wrist Rehabilitation Robot . Proceedings of the 2011 IEEE International Conference on Rehabilitation Robotics, June–July . 2011 . Zurich , , Switzerland
   Google Scholar
• Fateh , M M . 2008 . On the Voltage-based Control of Robot Manipulators . International Journal of Control, Automation, and Systems , 6 : 702 – 712 .
   Web of Science ®Google Scholar
• Fateh , M M . 2010 . Proper Uncertainty Bound Parameter to Robust Control of Electrical Manipulators using Nominal Model . Nonlinear Dynamics , 61 : 655 – 666 . doi: 10.1007/s11071-010-9677-7
   Web of Science ®Google Scholar
• Fateh , M M , Tehrani , H A and Karbassi , S M . 2012 . Repetitive Control of Electrically Driven Robot Manipulators . International Journal of Systems Science , to be published, http://dx.doi.org/10.1080/00207721.2011.625478
   Web of Science ®Google Scholar
• Fukao , T , Yuzuriha , A , Suzuki , T , Kanzawa , T , Oshibuchi , T , Osuka , K , Kohno , T , Okuyama , M , Tomoi , Y and Nakadate , M . 2008 . “ Inverse Optimal Velocity Field Control of an Outdoor Blimp Robot ” . In in Proceedings of the 17th World Congress The International Federation of Automatic Control, July 4374 – 4379 . Seoul, Korea
   Google Scholar
• Gautier , M and Poignet , P h . 2001 . Extended Kalman Filtering and Weighted Least Squares Dynamic Identification of Robot . Control Engineering Practice , 9 : 1361 – 1372 . doi: 10.1016/S0967-0661(01)00105-8
   Web of Science ®Google Scholar
• Gonçalves , V M , Pimenta , L CA , Maia , C A , Dutra , B CO and Pereira , G AS . 2010 . Vector Fields for Robot Navigation Along Time-varying Curves in n-dimensions . IEEE Transactions on Robotics , 26 : 647 – 659 . doi: 10.1109/TRO.2010.2053077
   Web of Science ®Google Scholar
• Hernández-Guzmán , V M , Santibáñez , V and Herrera , G . 2007 . Control of Rigid Robots Equipped with Brushed DC-motors as Actuators . International Journal of Control, Automation, and Systems , 5 : 718 – 724 .
   Web of Science ®Google Scholar
• Horn , R A and Johnson , C R . 1985 . Matrix Analysis , Cambridge : Cambridge University Press .
   Google Scholar
• Kelly , R , Santibáñez , V and Loría , A . 2005 . Control of Robot Manipulators in Joint Space , Berlin : Springer-Verlag .
   Google Scholar
• Khalil , H . 1996 . Nonlinear Systems , Upper Saddle River : Prentice Hall .
   Google Scholar
• Lewis , F L , Abdallah , C T and Dawson , D M . 1993 . Control of Robot Manipulators , New York : Macmillan .
   Google Scholar
• Li , P Y . 1999 . Coordinated Contour Following Control for Machining Operations – A Survey . Proceedings of the American Control Conference, June . 1999 . pp. 4543 – 4547 . San Diego , , USA
   Google Scholar
• Li , H , Dou , L and Su , Z . 2012 . Adaptive Nonsingular Fast Terminal Sliding Mode Control for Electromechanical Actuator . International Journal of Systems Science , to be published, http://dx.doi.org/10.1080/00207721.2011.601348
   Web of Science ®Google Scholar
• Li , P Y and Horowitz , R . 1999 . Passive Velocity Field Control of Mechanical Manipulators . IEEE Transactions on Robotics and Automation , 15 : 751 – 763 . doi: 10.1109/70.782030
   Google Scholar
• Li , P Y and Horowitz , R . 2001 . Passive Velocity Field Control (PVFC): Part I – Geometry and Robustness . IEEE Transactions on Automatic Control , 46 : 1346 – 1359 . doi: 10.1109/9.948463
   Web of Science ®Google Scholar
• Ljung , L . 1999 . System Identification: Theory for the User , 2nd , Englewood Cliffs : Prentice Hall .
   Google Scholar
• Masoud , S A and Masoud , A A . 2000 . Constrained Motion Control Using Vector Potential Fields . IEEE Transactions on Systems, Man and Cybernetics–Part A , 30 : 251 – 272 . doi: 10.1109/3468.844352
   Web of Science ®Google Scholar
• McIntyre , M L , Dixon , W E , Dawson , D M and Xian , B . 2005 . Adaptive Tracking Control of On-line Path Planners: Velocity Fields and Navigation Functions . Proceedings of the 2005 American Control Conference, June . 2005 . pp. 3168 – 3173 . Portland , , USA
   Google Scholar
• Moreno , J and Kelly , R . 2002 . “ On Manipulator Control via Velocity Fields ” . In in Proceedings of the 15th IFAC World Congress, July Barcelona, Spain
   Google Scholar
• Orozco-Manríquez , E A . 2009 . “ Modelling, Identification and Control of a Robot Manipulator of Two Degrees-of-freedom ” . In MSc dissertation , Instituto Politécnico Nacional–CITEDI . November
   Google Scholar
• Ortega , R , Loría , A , Nicklasson , P J and Sira-Ramirez , H . 1998 . Pasivity-based Control of Euler–Lagrange Systems , London : Springer-Verlag .
   Google Scholar
• Paden , B and Panja , R . 1988 . Globally Asymptotically Stable PD+ Controller for Robot Manipulators . International Journal of Control , 7 : 1697 – 1712 . doi: 10.1080/00207178808906130
   Web of Science ®Google Scholar
• Park , G-S and Hwang , D-H . 2002 . Robust Controller Design for a Class of Nonlinear Robot Manipulators with Actuator Dynamics . International Journal of Systems Science , 33 : 557 – 565 . doi: 10.1080/00207720210123751
   Web of Science ®Google Scholar
• Sadegh , N and Horowitz , R . 1990 . Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators . International Journal of Robotics Research , 9 : 74 – 92 .
   Web of Science ®Google Scholar
• Sciavicco , L and Siciliano , B . 2000 . Modelling and Control of Robot Manipulators , London : Springer-Verlag .
   Google Scholar
• Slotine , J JE and Li , W . 1988 . Adaptive Manipulator Control: A Case Study . IEEE Transactions on Automatic Control , 11 : 995 – 1003 . doi: 10.1109/9.14411
   Web of Science ®Google Scholar
• Tarn , T-J , Becjzy , A K , Yun , X and Li , Z . 1991 . Effect of Motor Dynamics on Nonlinear Feedback Arm Control . IEEE Transactions on Automatic Control , 7 : 114 – 122 .
   Google Scholar
• Wampler , C W and Leifer , L J . 1988 . Applications of Damped Least-squares Methods to Resolved-rate and Resolved-acceleration Control of Manipulators . ASME Journal of Dynamic Systems, Measurement, and Control , 110 : 31 – 38 . doi: 10.1115/1.3152644
   Web of Science ®Google Scholar
• Whitney , D E . 1969 . Resolved Motion Rate Control of Manipulators and Human Prostheses . IEEE Transactions on Man-machine Systems , 10 : 47 – 53 . doi: 10.1109/TMMS.1969.299896
   Web of Science ®Google Scholar
• Yamacli , S and Canbolat , H . 2008 . Simulation of a SCARA Robot with PD and Learning Controllers . Simulation Modelling Practice and Theory , 16 : 1477 – 1487 . doi: 10.1016/j.simpat.2008.08.004
   Web of Science ®Google Scholar