26
Views
1
CrossRef citations to date
0
Altmetric
Review article

The dynamics and control of robotic manipulators

Pages 201-211 | Received 09 Oct 1984, Accepted 01 Feb 1985, Published online: 04 May 2011

References

  • Paul , R. P. 1981 . Robot Manipulators: Mathematics, Programming, and Control , 43 – 45 . 41 – 43 . 101 – 103 . Cambridge, Mass : M. I. T. Press . Chapter 6
  • Bejczy , A. K. 1974 . Robot Arm Dynamics and Control , Jet Propulsion Lab Tech. Memo. 33–669 15 – 16 .
  • Luh , J. Y. S. , Walker , M. W. and Paul , R. P. 1980 . “On‐Line Computational Scheme for Mechanical Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 102 ( 2 ) : 69 – 76 .
  • Lee , C.S.G. , Gonzalez , R.C. and Fu , K.S. 1984 . Tutorial on Robotics , Silver Spring, Mary. : IEEE Computer Society Press . Chapters 2 and 5
  • Brady , M. , Hollerbach , J.M. , Johnson , T.L. , Lozano‐Perez , T. and Mason , M. T. 1982 . Robot Motion: Planning and Control , Cambridge, Mass. : M. I. T Press . Chapters 4 and 5
  • Luh , J.Y.S. and Lin , C.S. 1981 . “Optimum Path Planning for Mechanical Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 103 ( 2 ) : 142 – 151 .
  • Mujtaba , M.S. 1977 . Discussion of Trajectory Calculation Method , Stanford University; Artificial Intelligence Lab. . AIM‐285.4
  • Lin , C.S. , Chang , P.R. and Luh , J.Y.S. 1983 . “Formulation and Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots,” . IEEE Trans. Automat. Control , AC‐28 ( 12 ) : 1066 – 1074 .
  • Lin , C. S. and Chang , P. R. 1983 . “Joint Trajectories of Mechanical Manipulator for Cartesian Path Approximation,” . IEEE Trans. Syst. Man. Cybern. , SMC‐13 ( 6 ) : 1094 – 1102 .
  • Hollerbach , J. M. 1980 . “A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity,” . IEEE Trans. Syst. Man. Cybern. , SMC‐10 ( 11 ) : 730 – 736 .
  • Silver , W. M. 1982 . “On the Equivalence of Lagrangian and Newton‐Euler Dynamics for Manipulators,” . Int. J. Robotics Res. , 1 ( 1 ) : 60 – 70 .
  • Walker , M.W. and Orin , D.E. 1982 . “Efficient Dynamic Computer Simulation of Robotic Mechanisms,” . J. Dyn. Syst. Meas. Control Trans. ASME , 104 ( 3 ) : 205 – 211 .
  • Liu , C.‐H. , Wang , W.‐H. and Ting , C.‐S. “Robust Controller Design and Simulation for an Industrial Manipulator,” . Proc. 1984 Int. Conf. Ind. Electron. Control Instrum. Tokyo, Japan. pp. 387 – 392 .
  • Lee , C. S. G. and Ziegler , M. “A Geometric Approach in Solving the Inverse Kinematics of PUMA Robots,” . Proc. 13th Int. Symp. Int. Robots . Chicago, Ill.. pp. 16 – 1 . 16 – 8 .
  • Gilbert , E.G. and Ha , I.J. “An Approach to Nonlinear Feedback with Applications to Robotics,” . Proc. 22nd IEEE Conf. Deci. Control . San Antonio, Tx.. pp. 134 – 138 .
  • Raibert , M. H. and Horn , B. K. P. 1978 . “Manipulator Control Using the Configuration Space Method,” . Ind. Robot , 5 ( 2 ) : 69 – 73 .
  • Luh , J. Y. S. 1983 . “Conventional Controller Design for Industrial Robots—A Tutorial,” . IEEE Trans. Syst. Man. Cybern. , SMC‐13 ( 3 ) : 298 – 316 .
  • Kahn , M.E. and Roth , B. 1971 . “The Near‐Minimum‐Time Control of Open‐Loop Articulated Kinematic Chains,” . J. Dyn. Syst. Meas. Control Trans. ASME , 93 ( 3 ) : 164 – 172 .
  • Golla , D.F. , Garg , S.C. and Hughes , P.C. 1979 . “Linear State‐Feedback Control of Manipulators,” . Mech. Mach. Theory , 16 : 152 – 159 .
  • Saridis , G.N. and Lee , C.S.G. 1979 . “An Approximation Theory of Optimal Control for Trainable Manipulators,” . IEEE Trans. Syst. Man. Cybern. , SMC‐9 ( 3 ) : 152 – 159 .
  • Takegaki , M. and Arimoto , S. 1981 . “A New Feedback Method for Dynamic Control of Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 102 ( 2 ) : 119 – 125 .
  • Whitney , D.E. 1969 . “Resolved Motion Rate Control of Manipulator and Human Pros‐theses,” . IEEE Trans. Man. Mach. Syst. , MMS‐10 ( 3 ) : 47 – 53 .
  • Luh , J. Y. S. , Walker , M. W. and Paul , R. P. 1980 . “Resolved‐Acceleration Control of Mechanical Manipulators,” . IEEE Trans. Automat. Control , AC‐25 ( 3 ) : 468 – 474 .
  • Dubowsky , S. and DesForges , D.T. 1979 . “The Application of Model‐Referenced Adaptive Control to Robotic Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 101 ( 3 ) : 193 – 200 .
  • Takegaki , M. and Arimoto , S. 1981 . “An Adaptive Trajectory Control of Manipulators,” . Int. J. Control , 34 ( 2 ) : 219 – 230 .
  • Lee , C.S.G. and Chung , M.J. 1984 . “An Adaptive Control Strategy for Mechanical Manipulators,” . IEEE Trans. Automat. Control , AC‐29 ( 9 ) : 837 – 840 .
  • Koivo , A. J. and Guo , T.‐H. 1983 . “Adaptive Linear Controller for Robotic Manipulators,” . IEEE Trans. Automat. Control , AC‐28 ( 2 ) : 162 – 170 .
  • Balestrino , A. , DeMaria , G. and Sciavicco , L. 1983 . “An Adaptive Model Following Control for Robotic Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 105 ( 3 ) : 143 – 151 .
  • Kim , B.K. and Shin , K.G. 1983 . “An Adaptive Model Following Control of Industrial Manipulators,” . IEEE Trans. Aerosp. Electron. Syst. , AES‐19 ( 2 ) : 805 – 813 .
  • Lee , C.S.G. , Chung , M.J. and Lee , B.H. “Adaptive Control for Robot Manipulators in Joint and Cartesian Coordinates,” . Proc. Int. Conf. Robots . Atlanta, Georgia. pp. 530 – 539 .
  • Liu , C.‐H. and Ting , C.‐S. 1985 . “An Adaptive Control Strategy for Robotic Manipulators,” . J. Chin. Inst. Eng. , 8 ( 3 ) : 251 – 260 .
  • Hemani , H. and Camana , P. C. 1976 . “Nonlinear Feedback in Simple Locomotion Systems,” . IEEE Trans. Automat. Control , AC‐21 ( 6 ) : 855 – 860 .
  • Young , K.‐K. D. 1978 . “Controller Design for a Manipulator Using Theory of Variable Structure Systems,” . IEEE Trans. Syst. Man. Cybern , SMC‐8 ( 2 ) : 101 – 109 .
  • Freund , E. 1982 . “Fast Nonlinear Control with Arbitrary Pole‐Placement for Industrial Robots and Manipulators,” . Int. J. Robotics Res , 1 ( 1 ) : 65 – 78 .
  • Nijmeizer , H. and Schumacher , J. M. 1983 . “Input‐Output Decoupling of Nonlinear Systems with an Application to Robotics,” , The Netherlands : Econometric Institute, Erasmus University . Memo. 444
  • Dwyer , T.A.W. III , Lee , G.K.F. and Chen , N. “Exact Nonlinear Model Following for the Control of Industrial Robots,” . Proc. Robotic Intell. Prod. Conf. Detroit, Michigan : Wayne State University .
  • Saridis , G. N. and Stephanou , H. E. 1977 . “A Hierarchical Approach to the Control of a Prothetic Arm,” . IEEE Trans. Syst. Man. Cybern , SMC‐7 ( 6 ) : 407 – 420 .
  • Vukobratovic , M. and Potkonjak , V. 1982 . Control of Manipulation Robotsi , New York : Springer‐Verlag . Chapters 2 and 3
  • Whitney , D.E. 1977 . “Force Feedback Control of Manipulator Fine Motions,” . J. Dyn. Syst. Meas. Control Trans. ASME , 99 ( 2 ) : 91 – 97 .
  • Raibert , M.H. and Craig , J.J. 1981 . “Hybrid Position/Force Control of Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME. , 102 ( 2 ) : 126 – 133 .
  • Mason , M. T. 1981 . “Compliance and Force Control for Computer Controlled Manipulators,” . IEEE Trans. Syst. Man. Cybern. , SMC‐11 ( 6 ) : 418 – 432 .
  • Luh , J. Y. S. , Fisher , W. D. and Paul , R. P. C. 1983 . “Joint Torque Control by a Direct Feedback for Industrial Robots,” . IEEE Trans. Automat. Control , AC‐28 ( 2 ) : 153 – 161 .
  • Samson , C. “Robust Nonlinear Control of Robotic Manipulators,” . Proc. 22nd IEEE Conf. Decision Control . San Antonio, Tx.. pp. 1211 – 1216 .
  • 1983 . Special Issue of Robotics and the Factory of the Future . Proc. IEEE , 71 ( 7 ) : 787 – 908 .
  • Saridis , G.N. 1983 . “Intelligent Robotic Control,” . IEEE Trans. Automat. Control , AC‐28 ( 5 ) : 547 – 557 .

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.