A New Feedback Method for Dynamic Control of Manipulators

DOI10.1115/1.3139651zbMath0473.93012OpenAlexW2048603489MaRDI QIDQ3929603

Suguru Arimoto, Morikazu Takegaki

Publication date: 1981

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://semanticscholar.org/paper/10a25bc507df24fdd971afac082eee0f63abaf5a

zbMATH Keywords

feedbackholonomic constraintsmanipulatorcomputer simulationmotion control in the largesensor feedback controltask-oriented coordinate control

Mathematics Subject Classification ID

Related Items (only showing first 100 items - show all)

Global EPD regulation of uncertain nonlinear systems without global normal forms ⋮ A four-DOF Lagrangian approach to attitude tracking ⋮ Global asymptotic stability of input-saturated one degree-of-freedom Euler–Lagrange systems with Rayleigh dissipation under nonlinear control ⋮ Semiglobal stability of PID for uncertain nonaffine systems ⋮ Adaptive global prescribed performance tracking control of uncertain robotic systems with unknown control directions ⋮ VIBRATION CONTROL OF A CLASS OF GENERALIZED GRADIENT SYSTEMS ⋮ Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control. ⋮ An iterative scheme for learning gravity compensation in flexible robot arms ⋮ Adaptive explicit force control of position-controlled manipulators ⋮ Adaptive iterative learning control for robot manipulators ⋮ A class of nonlinear PD-type controllers for robot manipulators ⋮ A new control method and its robustness for a class of nonlinear systems ⋮ Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control ⋮ Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces ⋮ A stable motion control system for manipulators via fuzzy self-tuning ⋮ Robot motion similarity analysis using an FNN learning mechanism ⋮ Adaptive Control of Kinematically Redundant Manipulator along a Prescribed Geometric Path ⋮ On output feedback stabilization of Euler-Lagrange systems with nondissipative forces ⋮ Unnamed Item ⋮ Unnamed Item ⋮ Modified set-point controller for underwater vehicles ⋮ Global tracking controllers for flexible-joint manipulators: A comparative study ⋮ Nonlinear adaptive control of feedback passive systems ⋮ Towards a theoretical foundation of PID control for uncertain nonlinear systems ⋮ Cartesian control of robots without dynamic model and observer design ⋮ Passivity-based controllers for the stabilization of DC-to-DC power converters ⋮ Strict Lyapunov functions for control of robot manipulators ⋮ On Stabilization of Mixed Dimensional Parameter Port Hamiltonian Systems Via Energy Shaping ⋮ On global regulation of robot manipulators: Saturated linear state feedback and saturated linear output feedback ⋮ Special Issue on “Vision-Based Control Systems” ⋮ Passivity Based Attitude Control of Rigid Bodies ⋮ Simultaneous interconnection and damping assignment passivity-based control: the induction machine case study ⋮ A new result on PD controller design for second order nonlinear uncertain systems ⋮ A note on bounded-input feedback global stabilization of robot manipulators ⋮ Local stability of PD controlled bipedal walking robots ⋮ Parameter to state stability of control Lyapunov functions for hybrid system models of robots ⋮ Robust tracking control of a shaking table with dry friction ⋮ Thrust vector control of constrained multibody systems ⋮ Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity ⋮ Energy regulation of torque-driven robot manipulators in joint space ⋮ Cascaded control of feedback interconnected nonlinear systems: Application to robots with AC drives ⋮ Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations ⋮ On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties ⋮ Passivity based control of a class of Hamiltonian systems with nonholonomic constraints ⋮ Robustness analysis of a pd controller with approximate gravity compensation for robot manipulator control ⋮ Bounded inputs total energy shaping for a class of underactuated mechanical systems ⋮ From underactuation to quasi‐full actuation: Aiming at a unifying control framework for articulated soft robots ⋮ Composite adaptive control of robot manipulators ⋮ A dynamic-compensation approach to impedance control of robot manipulators ⋮ Results on the robust observer-based position controller for parallel kinematic machines ⋮ Further results on adaptive iterative learning control of robot manipulators ⋮ New class of control laws for robotic manipulators Part 1. Non–adaptive case ⋮ Globally stable PID-like control of mechanical systems ⋮ Global stabilisation of underactuated mechanical systems via PID passivity-based control ⋮ Globally asymptotically stable ‘PD+’ controller for robot manipulators ⋮ Further advancements on the output-feedback global continuous control for the finite-time and exponential stabilisation of bounded-input mechanical systems: desired conservative-force compensation and experiments ⋮ Consensus in networks of uncertain Euler-Lagrange agents using adaptive gravity compensation ⋮ A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators ⋮ Stable fuzzy logic design of point-to-point control for mechanical systems ⋮ Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs ⋮ Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information ⋮ Stabilizability of nonholonomic control systems ⋮ Adaptive learning tracking control of robotic manipulators with uncertainties ⋮ Terminal slider control of robot systems ⋮ Asymptotically stable set point control laws for flexible robots ⋮ Robustness of PID-controlled manipulators \textit{vis-à-vis} actuator dynamics and external disturbances ⋮ Global output feedback tracking control for a class of Lagrangian systems ⋮ Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space ⋮ Unnamed Item ⋮ Unnamed Item ⋮ The spring paradigm in tracking control of simple mechanical systems ⋮ Chattering-free sliding mode control for a class of nonlinear mechanical systems ⋮ Canonical transformation and stabilization of generalized Hamiltonian systems ⋮ Stable adaptive compensation with fuzzy CMAC for an overhead crane ⋮ A Differential-Geometric Approach for Bernstein’s Degrees-of-Freedom Problem ⋮ Power Shaping Control of Nonlinear Systems: A Benchmark Example ⋮ Simultaneous Interconnection and Damping Assignment Passivity-Based Control: Two Practical Examples ⋮ Passivity-based control for bilateral teleoperation: a tutorial ⋮ Adaptive Jacobian vision based control for robots with uncertain depth information ⋮ Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking ⋮ Asymptotically stable visual servoing of manipulators via neural networks ⋮ Optimal nonlinear damping control of second-order systems ⋮ Stabilization of Hamiltonian systems with nonholonomic constraints based on time-varying generalized canonical transformations ⋮ On the matching equations of energy shaping controllers for mechanical systems ⋮ Passivity-based sliding mode control for nonlinear systems ⋮ Port-based asymptotic curve tracking for mechanical systems ⋮ Interconnection and damping assignment passivity-based control: a survey ⋮ Canonical transformations used to derive robot control laws from a port-controlled Hamiltonian system perspective ⋮ A family of hyperbolic-type control schemes for robot manipulators ⋮ Adaptive PID-like fault-tolerant control for robot manipulators with given performance specifications ⋮ Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping ⋮ Survey on Passivity Based Control of Induction Machine ⋮ Semiglobal stability of saturated linear PID control for robot manipulators ⋮ Continuous finite-time regulation of Euler-Lagrange systems via energy shaping ⋮ On global trajectory tracking control of robot manipulators in cylindrical phase space ⋮ Stabilization of Hamiltonian systems ⋮ Symplectic discrete-time energy-based control for nonlinear mechanical systems ⋮ Region-based shape control for a swarm of robots ⋮ Strict Lyapunov functions for finite-time control of robot manipulators ⋮ Adaptive control of flexible multilink manipulators

This page was built for publication: A New Feedback Method for Dynamic Control of Manipulators