| contributor author | Kourosh Parsa | |
| contributor author | Jorge Angeles | |
| contributor author | Arun K. Misra | |
| date accessioned | 2017-05-09T00:15:41Z | |
| date available | 2017-05-09T00:15:41Z | |
| date copyright | December, 2005 | |
| date issued | 2005 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26348#688_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/131523 | |
| description abstract | A full-pose, position and orientation, trajectory-tracking control of kinematically redundant flexible-macro-rigid-micro manipulators is proposed. Redundancy is resolved such that the forces exciting the lowest-frequency “modal coordinates” of the system are minimized, while imposing a proportional damping on the flexural dynamics, rendering it stable under certain conditions. The simulation results show that the initial posture of the manipulator plays an important role in satisfying the foregoing stability conditions. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Control of Macro-Micro Manipulators Revisited | |
| type | Journal Paper | |
| journal volume | 127 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.1870039 | |
| journal fristpage | 688 | |
| journal lastpage | 699 | |
| identifier eissn | 1528-9028 | |
| keywords | Dynamics (Mechanics) | |
| keywords | Force | |
| keywords | Torque | |
| keywords | Stability | |
| keywords | Motion | |
| keywords | Redundancy (Engineering) | |
| keywords | Trajectories (Physics) | |
| keywords | Damping | |
| keywords | Vibration | |
| keywords | End effectors | |
| keywords | Errors | |
| keywords | Manipulators | |
| keywords | Resolution (Optics) AND Equations | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2005:;volume( 127 ):;issue: 004 | |
| contenttype | Fulltext | |