Vibration damping in manipulation of deformable linear objects using sliding mode control

References

• Hirai S. Energy-based modeling of deformable linear objects. In: Henrich D, Wörn H, editors. Robot manipulation of deformable objects. London: Springer-Verlag; 2000. p. 11–28.
   Google Scholar
• Wakamatsu H, Arai E. Static modeling of linear object deformation based on differential geometry. Int. J. Robot. Res. 2004;23:293–311.
   Web of Science ®Google Scholar
• Wakamatsu H, Hirai S, Arai E. Dynamic analysis of rodlike object deformation towards their dynamic manipulation In: 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems; 1997 Sep 7--11; New York, USA. USA: IEEE; 1997. p. 196–201.
   Google Scholar
• Wada T, Mcrragher BJ, Wakamatsu H, Hirai S. Modeling of Shape bifurcation phenomena in manipulations of deformable string objects. Adv. Robot. 2001;15:833–846.
   Web of Science ®Google Scholar
• Yue SG, Henrich D. Manipulating deformable linear objects: attachable adjustment motion for vibration reduction. J. Robot Syst. 2001;18:375–389.
   Web of Science ®Google Scholar
• Wakamatsu H, Takahashi K, Hirai S. Dynamic modeling of linear objects deformation based on differential geometry coordinates. In: 2005 IEEE International Conference on Robotics and Automation; 2005 Apr 18--21; Barcelona, Spain. USA: IEEE; 2005. p. 1040–1045.
   Google Scholar
• Wakamatsu H, TakahashiK, Hirai S. Dynamic modeling of linear object deformation considering contact with obstacles. In: 2006 IEEE International Conference on Control Automation, Robotics and Vision; 2006 Dec 5--8; Singapor, Singapore. USA: IEEE; 2006. p. 1085–1090.
   Google Scholar
• Huang J, Di P, Fukuda T, Matsuno T. Dynamic modeling and simulation of manipulating deformable linear objects. In: 2008 IEEE International Conference on Mecthatronics and Automation; 2008 Aug 5--8; Takamatsu, Japan. USA: IEEE; 2008. p. 858–863.
   Google Scholar
• Nakanishi H, Hirai S. Dynamic linear object modeling of flexible pendulum. In: The 26th JSME Conference on Robotics and Mechatronics; 2006 May 26--28; Waseda, Japan. p. 1P1–B28.
   Google Scholar
• Abegg F, Remde A, Henrich D. Force- and vision-based detection of contact state transitions. In: Henrich D, Wörn H, editors. Robot manipulation of deformable objects. London: Springer-Verlag; 2000. p. 111–134.
   Google Scholar
• Zheng YF, Pei R, Chen C. Strategies for automatic assembly of deformable objects. In: 1991 IEEE International Conference on Robotics and Automation; 1997 Apr 9--11; Sacramento, USA. USA: IEEE; 1991. p. 2598–2063.
   Google Scholar
• Das J, Sarkar N. Robust shape control of deformable objects using model-based techniques. Adv. Robot. 2011;25:2099–2123.
   Web of Science ®Google Scholar
• Yue SG, Henrrich D. Manipulating deformable linear objects: model-based adjustment-motion for vibration reduction. In: The 10th International Conference on Advanced Robotics; 2001 Aug 22--25; Budapest, Hungary. Hungary: Budapest Polytechnic; 2001. p. 503–508.
   Google Scholar
• Yue SG, Henrich D. Manipulating deformable linear objects: sensor-based skills of adjustment motion for vibration reduction. J. Robot. Syst. 2005;22:67–85.
   Web of Science ®Google Scholar
• Yue SG, Henrich D. Manipulating defroamble linear objects: fuzzy-based active vibration damping skill. J. Intell. Robot Syst. 2006;46:201–219.
   Web of Science ®Google Scholar
• Ding F, Huang J, Motsuno T, Fukuda T. Skilled-based vibration suppression in manipulation of deformable linear object. In: 2011 International Symposium on Micro-NanoMechatronics and Human Science; 2011 Nov 6--9; Nagoya, Japan. USA: IEEE; 2011. p. 421–426.
   Google Scholar
• Sankaranaryanan V, Mahindrakar AD. Control of a class of underactuated mechanical systems using sliding modes. IEEE Trans. Robot. 2009;25:459–467.
   Web of Science ®Google Scholar
• Yu R, Zhu Q, Xia G, Liu Z. Sliding mode tracking control of an underactuated surface vessel. IET Control Theroy Appl. 2012;6:461–466.
   Web of Science ®Google Scholar
• Wang W, Yi J, Zhao D, Liu D. Design of a stable sliding-mode controller for a class of second-order underactuated systems. IET Control Theory Appl. 2004;151:683–690.
   Web of Science ®Google Scholar
• Yeung KS, Chen YP. Regulation of a one-link flexible robot arm using sliding-mode technique. Int. J. Control. 1989;49:1965–1978.
   Web of Science ®Google Scholar
• Chen YP. Regulation and vibration control of an FEM-based single-link flexible arm using sliding-mode theory. J. Vibr. Control. 2001;7:741–752.
   Web of Science ®Google Scholar
• Zhu Z, Xia YQ, Fu MY. Adaptive sliding mode control for attitude stabilization with actuator saturation. IEEE Trans. Ind. Electron. 2011;58:4898–4907.
   Web of Science ®Google Scholar