Ahmad, S.; and Besant, C.B.; 1984 R::CONTROL TRAJECTORY DYN ImpCollege,London Motion control of industrial robots with closed loop trajectories IEEE Conference on Robotics, Atlanta, March 1984, p.305-311 Akulenko, L.D.; Mikhailov, S.A.; and F.L. Chernous'ko; 1981 R::DYN ELASTIC Moscow Simulation of the dynamics of a manipulator with elastic elements Izv. AN SSSR. Mekhanika Tverdogo Tela, v.16(3):118-124, (Trans. Mechanics of Solids, v.16(3):111-117) { { Uses Book's model (Assume load >> manipulator mass and manip elasticity is { high) to compute effects of elastic oscillations on controlled motions. { Hence 1) ignore manip. K.E.; and { 2) natural elastic vibrns dominate. { Determine lowest vibrn mode from quasi-static equilibrium concepts. { The potential elastic energy is determined using a two-element system for { demonstration purposes (and the eqns are hideous). K.E. for mass alone is { computed -> Lagrangian. Discard "small" terms and non-dimensionalize. { Obtain linear differential equation in terms of matrix coefficients. { Obtain solutions for a set of parameter values. { Vibrn amplitude is 0.4-0.8% (of length) for gross transport, and 0.2% for { wrist manipulations. (Will increase for more links, etc. Albus, J.S.; Barbera, A.J.; Fitzgerald, M.L.; Nagel, R.N.; VanderBrug, G.J.; and T.E. Wheatley; 1980 R::CONTROL ADAPTIVE NBS A measurement and control model for adaptive robots 10th Industrial Symposium for Industrial Robots, Milan, p.303-309 Albus, James S.; Barbera, Anthony J.; Fitzgerald, M.L.; 1982 R::CONTROL-HIER SENSOR NBS Sensor robotics in the National Bureau of Standards SPIE Proceedings v.360, "Robotics and Industrial Inspection", (1982 San Diego) p.14-21 { { Repeat paper: [Albus++81], Hierarchical control for sensory .. Albus, James S.; Barbera, Anthony J.; Fitzgerald, Mary Lynn; 1981 R::CONTROL-HIER SENSOR NBS Hierarchical control for sensory interactive robots 11th Industrial Symposium for Industrial Robots, Milan, p.497-505 { { see Repeat paper: [Albus++82, Sensor...] Alford, Cecil O.; and Stanley M. Belyeu; 1984 R::CONTROL GeorgiaTech-EE/IBM-BocaRaton A Computer Control Structure for Coordination of Two Robot Arms ACC, v.2:880-881 Alford, Cecil O.; and Stanley M. Belyeu; 1984 R::CONTROL GeorgiaTech-EE/IBM-BocaRaton Coordinated control of two robot arms IEEE Conference on Robotics, Atlanta, March 1984, p.468-473 Allen, R.R.; and D.M. Rozelle; 1980 M::2D::DYN BOND-GRAPH UCLA/Wiggins A describing function for dynamic forces in single degree-of-freedom mechanisms J. Dyn. Systems, Measurement and Control, ASME Trans. v.102:240-246 Allen, R.R.; and Dubowsky,S.; 1977 M::DYN KIN BOND-GRAPH UCLA Mechanisms as components of Dynamic Systems: A Bond Graph Approach J. Engg. for Industry, v.99:104-111 { { A bond graph represents the power flows within a system. Ports are points { at which components may be interconnected by power bonds. { Both kinematics and dynamics are represented by a single notation. { Dissipative and Compliance effects may be modelled and a constitutive { relation derived. Contains six-link 2-D example. { Computationally expensive (5.7sec on IBM360 for one cycle) Amirouche, Mohamed; and Ronald H. Huston; 1984 R::DYN ELASTIC MULTI-ARM U.Cinn-ME Flexibility and transient effects in a multi-arm robot 7th Symposium on Engineering Applications in Mechanics, Toronto, p.7-12 Anex, Robert P., Jr.; and Mont Hubbard; 1984 R::CONTROL ADAPTIVE UCDavis-ME Modelling and adaptive control of a mechanical manipulator ACC 1984, v.3:1237-1242 Angeles, J.; Ma, O.; 1988 R::DYN::SIMULATION McGillU. Dynamic simulation of n-axis serial robotic manipulators using a natural orthogonal component International J. of Robotics Research, v.7(5):32-47 { { Among the interesting aspects, provides a complete parameter description { of a PUMA 600 - including all the D-H parameters and the inertia values. { - 10/88 Ardayfio, David D.; and Hardy J. Pottinger; 1982 R::CONTROL OVERVIEW U.Mo.Rolla Computer control of robotic manipulator Mechanical Engineering, August 1982, p.40-45 Arimoto, Suguru; and Fumio Miyazaki; 1983 R::CONTROL STABILITY OsakaU.-ME Stability and robustness of PID feedback control for robot manipulators of sensory capability Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods, August, 1983.), p.783-801 { { A new control method is proposed; an extension of [Taregaki+ 1981]. { Integration of positional reference errors is feedback. { Liapunov stability is proved in the face { of nonlinear dynamics terms (cent & Cor), friction, payload changes etc. { For non-local sensors also, asymptotic stability can be proved. Aristova, M.V.; Ignatiev, M.B.; and V.M. Pokhorov; 1976 R::SIMULATION DYN Inst. Aviation Instr., Leningrad Algorythmic system for robot's motion simulation Proc. Symp. on the Theory and Practice of Robots and Manipulators, (5th IFToMM), Warsaw Asada, H.; 1982 R::DYN ELLIPSOID MIT-ME A characteristics analysis of manipulator dynamics using principal transformations. (Almost repeat paper: '83 A Geom..) American Control Conference, 1982, p.1186-1188 Asada, H.; 1983 R::DYN ELLIPSOID MIT-ME A geometric representation of manipulator dynamics and its application to arm design J. Dyn. Systems, Meas. and Control, ASME Trans. v.105:131-135, 1983 Asada, H.; Kanade, T.; and I. Takeyama; 1983 R::CONTROL DIRECT-DRIVE MIT-ME/CMURI/Kubota Control of a direct-drive arm J. Dyn. Systems, Meas. and Control, ASME Trans. v.105:136-142, 1983 Asada, H.; Youcef-toumi, Kamal; and Richard Ramirez; 1984 R::CONTROL DIRECT-DRIVE MIT-ME MIT Direct-drive arm project ?Proc> ? Asada, H.; and K. Youcef-Toumi; 1983 R::ACTUATOR DYN MIT-Lab. Mfg & Prodvty Analysis of multi-degree-of-freedom actuator systems for robot arm design ASME Winter Conf., Boston Nov 1983, (Reprinted: Control of Manufacturing Processes and Robotic Systems, ed. D.E. Hardt & W.J. Book, ASME) Asada, Haruhiko; 1984 R::DYN ELLIPSOID MIT-ME Dynamic analysis of robot manipulators using inertia ellipsoids IEEE Conference on Robotics, Atlanta, March 1984, p.94-102 { { Proposes a method for designing a manipulator for better inertia { distribution such that resistance to motion is more uniform over entire { workspace. The previously developed ingenious idea of generalised { inertia ellipsoids is used; objective is identified as the relative { spherisation of these ellipsoids. A 2-D example is worked out in detail. Asada, Haruhiko; and Hideo Hanafusa; 1980 R::CONTROL ADAPTIVE APPLICATION Automn.Res.Lab, KyotoU. An adaptive tracing control of robots and its application to automatic welding JACC 1980, paper FA-7D Backwood, C.; and J. Rees Jones; 1981 R::SIMULATION ANALOG DYN Liverpool Polytechnic Analogue computer simulation of a robot manipulator J. Mech. Engineering Science, v.23:121-129 Bagci, C.; 1971 M::3D::DYN SCREW Tennessee Tech U., Cookeville Static force and torque analysis using 3x3 screw matrix, and transmission criteria for space mechanisms J. Engg. for Industry, v.93:90-101 Bagci, C.; 1972 M::3D::DYN SCREW Tennessee Tech U., Cookeville Dynamic force and torque analysis for mechanisms using dual vectors and 3x3 screw matrix J. Engg. for Industry, v.94:738-745 Bailleuil, J.; and M. Levi; 1983 SPACECRAFT::DYN ELASTIC STABILITY Scientific Systems,Inc/BostonU Dynamics of rotating flexible structures IEEE D&C, 1983, p.808-813 { { An explanation, using coupled PDE's, for the dynamically unstable { behavior demonstrated by the satellite Explorer 1. Lagrangian { approach; Lyapunov function = total energy. Balas, Mark J.; 1980 SPACECRAFT::DYN ELASTIC FEM CONTROL Finite Element models and feedback control of flexible aerospace structures JACC 1980, paper FP-1D Balas, Mark J.; 1982 SPACECRAFT::CONTROL RPI-EE Parameter estimation and control of distributed systems with application to large deployable antennae Proc. ACC '82. p.1-6 Balestrino, A.; DeMaria, G.; and L. Sciavicco; 1983 R::CONTROL ADAPTIVE Inst. Elettrotecnico U. Naples Adaptive control of manipulators in the task oriented space Proc. ISIR, Chicago, 1983, p.13-13 Balestrino, A.; DeMaria, G.; and L. Sciavicco; 1983 R::CONTROL ADAPTIVE MODEL-REF Inst. Elettrotecnico U. Naples An adaptive model following control for robotic manipulators J. Dyn. Systems, Meas. and Control, ASME Trans. v.105:143-151, 1983 Bayazitoglu, Y.O.; and M.A. Chace; 1973 M::3D::DYN LAGRANGIAN MiddleEastTechU.,Ankara/UofM Methods for automated dynamic analysis of discrete mechanical systems J. Applied Mechanics, 95:809-811 { Open-loop mechanisms are analysed as 3D generalised compound pendulums. Bejczy, A.K.; and J.K. Salisbury; 1983 TELEOPERATOR::CONTROL JPL/StanfME Controlling remote manipulators through kinesthetic coupling Computers in Mechanical Engg., July 1983. p.48-60 Bejczy, Antal K.; and Sukhan Lee; 1983 R::DYN JPL/USCEE Robot arm dynamic model reduction for control Proc. IEEE Conference on Decision and Control 1983, p.1466-1475 Bejczy, Antal K.; and Sukhan Lee; 1984 TELEOPERATOR::CONTROL FORCE JPL/USC-EE Generalized bilateral control of robot arms ACC 1984, p.1883-1892 Benedict, C.E.; and Tesar, D.; 1978 M::3D::KIN DYN UFla. Model Formulation of Complex Mexhanisms with multiple inputs: Part 1 - Geometry J. Mech. Design, v.100:747-754 Benedict, C.E.; and Tesar, D.; 1978 M::3D::KIN DYN UFla. Model formulation of complex mechanisms with multiple inputs: Part 2 - the dynamic model J. Mech. Design, v.100:755-761 Bobrov, J.E.; Dubowsky, S.; and J.S. Gibson; 1982 R::CONTROL OPTIM UCLA/MIT-ME/UCLA On the optimal control of robotic manipulators with actuator constraints ISIR, Paris 1982, p.782-787 Boie, Robert A.; 1985 R::SENSOR POSITION PERFORMANCE DYN ELASTIC AT&T, Murray Hill, NJ Light Beam Stiffening of Flexible Robot Arms SPIE Vol.579, Intelligent Robots and Computer Vision, pp. 162-163, 1985 { { Uses an active stiffening system based on light beam sensing. Some { performance data on the stiffnesses of commercial robots. Boland, Ph.; Samin, J.Cl.; and Willems, P.Y.; 1975 SPACECRAFT::CLOSED-LOOP DYN ELASTIC STABILITY U.Louvain,Belgium Stability Analysis of interconnected deformable bodies in a topological tree AIAA Journal, v.12(8):1025-1030 { { Boland et al [1974] perform a simple stability analysis using an extension { of the Hooker-Margulies theme. The equations of motions are derived and { presented in matrix notation. Deformation terms are included. { The non-linear coefficient matrices are linearized about an equilibrium { configuration by considering small deformations superimposed on small { displacements, the algebra being considerably reduced since the virtual { work principle was used in deriving the equations of motion in the first { place. Skew-symmetric tilde matrices are introduced for rotations. { The symmetry properties desired for a simple Liapunov stability analysis { are obtained when the Lagrangian equations are expressed in terms of { generalized variables. { This results in a second order linear equation for which the stability { criteria are well known. Results indicate that stability can be achieved { by suitable tuning of the "large" design parameters. Bolotin, V.V.; 1964 DYN::ELASTIC STABILITY The dynamic Stability of Elastic Systems Holden-Day Bolotnik, N.N.; and A.A. Kaplunov; 1982 R::2D::OPTIM CONTROL CARTESIAN Moscow Optimal rectilinear moving of a load with a two-link manipulator Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics) v.20(1):121-131 Book, W.J.; 1976 R::DYN ELASTIC CONTROL GeorgiaTechME Characterization of strength and stiffness constraints on manipulator control Theory and Practice of Robots and Manipulators, Proc. Second Intl. CISM-IFToMM Symposium, Warsaw. Elsevier, New York Book, W.J.; 1979 R::DYN ELASTIC GeorgiaTechME Analysis of Massless Chains with Servo-Controlled Joints J. Dyn. Sys., Measurement and Control v.101:187-192 { { This massless elastic chain model uses 4x4 coordinate transformation { matrices for approximating elastic deflections under load. { A lumped parameter approach is used: the effective inertias of each { member are lumped at the joints as complex non-linear functions of link { orientations. The assumption that the manipulator mass is much smaller { than the load is valid in the space shuttle application for which the { theory was originally developed. { { A differential of the transformation matrix is determined using a { rotational tilde matrix along with a linear deformation part. { The matrix elements are determined as functions of the external forces { and system stiffness parameters expressed as influence coefficients. { The torques required to maintain a deformation are computed; { these can then be transformed appropriately to determine the actuator { torques required to maintain a desired end-point position. Book, W.J.; Maizza-Neto, O.; and Whitney, D.; 1975 R::CONTROL ELASTIC GeorgiaTechME/SaoPaulo/CSDraper Feedback Control of two beam, two joint systems with distributed flexibility J. Dyn. Sys., Measurement and Control v.97:424-431 Book, W.J.; and M. Majette; 1983 CONTROL::ELASTIC GeorgiaTech Controller design for flexible distributed parameter mechanical arms via combined state space and frequency domain techniques J. Dyn. Systems, Meas. and Control, ASME Trans. v.105:245-154 Book, Wayne J.; 1983 DYN::LAGRANGIAN ELASTIC CMU-RI+GT Recursive Lagrangian dynamics of flexible manipulator arms via transformation matrices CMU Robotics Institute Report CMU-RI-TR-83-23, December 1983 Book, Wayne J.; and Dirk P. Hannema; 1980 TELEOPERATOR::DYN PERFORMANCE ACCURACY GeorgiaTech-ME Master-slave performance for various dynamic characteristics and positioning task parameters IEEE Trans. Systems, Man and Cybernetics, v.SMC-10(11):764-771 Brasfield, R.L.; and Cemil Bagci; 1975 M::3D::DYN TennesseeTechU. Matrix-displacement-direct-element method for force and torque analysis of determinate and indeterminate space mechanisms with arbitrary skew angles J. Engineering for Industry, ASME Trans. v.89:671-681 Brooks, T.L.; 1980 TELEOPERATOR::CONTROL AUTONOMOUS CA Institute of Tech Supervisory Manipulation Based on the Concepts of Absolute VS Relative and Fixed VS Moving Tasks Preprint of Paper presented at ASME Century II - Emerging Technology Conferences, San Francisco, CA, August 1980 Brooks, T.L.; and T.B. Sheridan; 1980 TELEOPERATOR::CONTROL AUTONOMOUS CA Institute of Tech. & MIT Experimental Evaluation of the Concept of Supervisory Manipulation Proceedings of the 16th Annual Conferenc on Manual Control, MIT, Mass., May, 1980, pp. 593-606 { { Proposes a semi-autonomous teleoperator that performs portions of a task { autonomously and some portions under total manual control. Brooks, Thurston L.; and Thomas B. Sheridan; 1979 TELEOPERATOR::CONTROL UNDERWATER MIT-Cambridge, Mass Superman: A System for Supervisory Manipulation and the Study of Human/Computer Interactions Report No. MITSG 79-20, Index No. 79-320-Mio, Sea Grant College Program, MIT, Cambrige, Mass., July 1979 Burdick, Joel W.; 1986 R::DYN EQUATION-GENERATION COMPUTATION Stanford AIL An algorithm for generation of efficient manipulator dynamic equations IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.212-218 { Describes EMDEG a lisp-based Efficient Manip. Dyn. Eqn Generator. Burgam, Patrick; 1983 R::CONTROL OVERVIEW Writer, Manufacturing Engineering Today's Adaptive Control Systems Manufacturing Engineering, August 1983, pp 50-52 Bursal, Faruk H.; 1985 R::SIMULATION GRAPHICS DYN UNDERWATER MIT-ME Computer Simulation of Manipulator Dynamics with Concurrent Graphic Display MIT Sea Grant Program - Undergraduate Research Report, April 1985 Cannon, Robert H.; and Eric Schmitz; 1983 R::1D::CONTROL ELASTIC Stanford-ME Precise control of flexible manipulators Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.841-861 { { An experimental arm is developed with high flexibility only in the { horizontal direction. The torsion, vertical and axial deflections are { neglected. The Euler-Bernoulli model is used (no rot. inertias and shear.) { Equations of motion are determined by solving a 4th order PDE w/ 4 BC's. { Matrix parameters in the solution are determined thru' identification { (sine dwell open loop tests.) { { One of the objectives is to investigate stability of control algorithms { w/ non-local sensory input (sensors mounted at a distance from actuator) { The tip remains stationary for 0.1 sec, then moves briefly in the wrong { direction before whipping forward to the desired position in about 0.4 s. { About 0.1 sec is the wave travel time across the length of the beam. { The natural freq. is 2 sec, so this is an impressive result. { { A non-square command profile is seen to be effective in reducing the { residual vibrations significantly. Cesareo, G.; Nicolo, F.; and S. Nicosia; 1984 R::DYN EQUATION-GENERATION SIMULATION DYMIR: a code for generating dynamic model for robots IEEE Conference on Robotics, Atlanta, March 1984, p.115-120 { What is interesting in this paper is the model proposed for gear and { transmission losses, using power transmission efficiency considerations. Chace, M.A.; 1963 M::3D::DYN IBM Rochester,Minn. Analysis of the time-dependence of multi-freedom mechanical systems in relative coordinates J. Engineering for Industry, ASME Trans. v.99:119-125 Chace, M.A.; and Bayazitoglu; 1971 M::DYN UofM-ME Development and Application of a Generalized d'Alembert Force for Multifreedom Mechanical Systems J. Engg. for Industry, 93:317-327 Chalhoub, Nabil G.; and A. Galip Ulsoy; 1984 R::1D::SIMULATION DYN ELASTIC U.Mich-ME Dynamic Simulation of a Flexible Robot Arm and Controller ACC 1984, v.2:631-637 Chernous'ko, F.L.; 1981 R::DYN ELASTIC moscow The Dynamics of Controlled Motions of an Elastic Manipulator Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics) v.19(5):101-110 { { Chernous'ko's model is based on the theory developed in Lakota { etc.[1980] and Akulenko et al [1981]. The coordinates after elastic { deformation are considered as perturbations on the undeformed joint { coordinates obtained through rigid body transformation matrix { models. Next the potential energy is formulated as a functn of this { added elastic deformation alone, whereas the kinetic energy remains a { function of the unperturbed velocities. Using the virtual work { formulation of Lagrange's equations a condition is developed for the { equilibrium of an inertialess manipulator. This expression is { independent of the elastic deformation, and turns out to be identical { to the rigid body solution. { { Next an asymptotic analysis is carried out to determine the dynamic { behavior. The elastic deformation effects are assumed to be very { small, of the order (epsilon). Since the rigidity has to be large to { satisfy the small deflection assumption, this is of the order { (1/epsilon-squared). The motion is then separated into two parts { with different time scales to separate the gross slow motions from { the rapid oscillatory motions. Separate equations are evolved for { the 'slow' displacement and the 'fast' displacement, which are { required to be independently zero making use of the arbitrariness in { the two-time expansion. A closed form solution is obtained for the { slowly varying part. { { However, this slowly varying solution is a parameter in the equation { for the rapidly oscillatory motion - thus the frequencies themselves { are time dependent. The solution to this part involves asymptotic { averaging in the vicinity of a fixed point in time (following the { method presented in Mitropol'skii [1965]). A set of 'fundamental' { frequencies are obtained by freezing the 'fast' equation in time and { assuming epsilon = 0. This results in a set of frequencies and { eigenvectors for normal elastic vibration. These are now used as a { basis for a series expansion in the 'fast' displacement term, { arriving at an expression valid only in the time neighborhood of the { solution time (this is permissible since the system has been { linearized with respect to the elastic deformation). Finally, these { expressions for the slow and fast terms are incorporated in the { expression for the moments at the joint thus determining the control { torques required. This process has to be repeated for the entire { trajectory (time-step to time-step) until a satisfactory level of { solution can be reached. { { It is clear that though this method provides an elegant analysis of a { very complex problem, the results are too laboriously obtained for { real-time control applications. At the same time, they are embedded { too deeply in algebra to provide any intuitive feel for the motion, { although the final results can be analysed using the tools of series { and asymptotic analysis to gain some insights into the dynamic { behavior. Also, in special cases, for example when the external { loading is zero, the analysis simplifies considerably and becomes { somewhat tractable. Chumenko, V.N.; and A.S. Yushchenko; 1981 R::CONTROL IMPULSE Moscow The effect of a blow on the executive mechanism of a manipulation robot Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics) v.19(4)75-81 Cipra, R.J.; and J.J. Uicker; 1981a DYN::SIMULATION NONLINEAR Purdue-ME/Wisc-mad-ME On the dynamic simulation of large nonlinear mechanical systems Part I: An overview of the simulation technique, Substructuring and frequency domain considerations J. Mechanical Design, v.103:849-856 Cipra, R.J.; and J.J. Uicker; 1981b DYN::SIMULATION NONLINEAR Purdue-ME/Wisc-mad-ME On the dynamic simulation of large nonlinear mechanical systems Part II: The time integration technique and time response loop J. Mechanical Design, v.103:857-865 Coiffet, P.; 1981 R::KIN DYN CONTROL Montpelier Les Robots, v.1 (Modelling and Control) Trans. 1983 Prentice-Hall, NJ Craig, John J.; 1983 R::CONTROL GMR Adaptive control of manipulators through repeated trials General Motors Research Laboratories, Report GMR-4530, December 1983 Cvetovic, Vesna; and Miomir Vukobratovic; 1982 R::CONTROL Inst. Mihailo Pupin, Beograd. One robust, Dynamic control algorithm for manipulation systems IJRR v.1(4), Winter 1982, p.15-28 Dombre, E.; Liegois, A.; and P. Borrel; 1980 R::DYN ELASTIC Montpelier Modelling the elastic transmissions of a computer-controlled manipulator Proc. JACC, 1980, paper TP10-C Draganoiu, G.; Davidoviciu, A.; Moanga, A.; Tufis, I.; 1982 R::DYN Bucharest Computer method for setting dynamic model of an industrial robot with closed kinematic chains Proc. 12th ISIR, Paris, 1982, p.371-379 Dubowsky, S.; and D.T. Des Forges; 1979 R::CONTROL ADAPTIVE MODEL-REF UCLA/JPL The application of model-referenced adaptive control to robotic manipulators J. Dyn. Systems, Meas. and Control, ASME Trans. v.101:193-200 Dubowsky, S.; and F. Freudenstein; 1971 M::2D::DYN ELASTIC BACKLASH Perkin-Elmer/Columbia Dynamic analysis of mechanical systems with clearances J. Engineering for Industry, ASME Trans. v.93:305-316 Dubowsky, S.; and Gardner, T.N.; 1975 M::2D::DYN ELASTIC BACKLASH UCLA/MechanicsRes Dynamic Interactions of link Elasticity and Clearance Connections in Planar Mechanical Systems J. Engg. for Industry, 97:652-661 Dubowsky, S.; and Gardner, T.N.; 1977 M::2D::DYN ELASTIC BACKLASH UCLA/Exxon Design and Analysis of Multilink Flexible Mechanisms with Multiple Clearance Connections J. Engg. for Industry, 99:88-96 Dubowsky, Steven; 1980 DYN::FUTURE UCLA Dynamics for manipulation: areas of future research Workshop on Research to advance the state of robotics, University of Rhode Island, (org.Birk and Kelley) April 1980, p.119-128 Dunskaya, N.V.; and E.S. Pyatnitskii; 1983 R::CONTROL ADAPTIVE Moscow Adaptive manipulator control (movement learning algorithms) Avtomatika i Telemekhanika, #2p.122-134, 2/83 Durrant-White, H.; 1985 R::CONTROL ADAPTIVE MODEL-REF ERROR DYN U.Penn GRASP LAB Practical adaptive control of actuated spatial mechanisms IEEE International Conference on Robotics and Automation, St. Louis, March, 1985, p.650-655 { { Considers inaccurate modeling and inaccurate plant parameters. { Interesting aspect - accommodates for motor saturation. Simulation tests. Dwyer III, T.A.W.; and G.F.K. Lee; 1984 R::SPACECRAFT::CONTROL DYN Colo.St.U.-EE Exact Nonlinear Command Generation and Tracking for Robot Manipulators and Spacecraft for Slewing Maneuvers ACC, 1984, v.2:710-715 Elliott, H.; Depkovich, T.; Kelly, J.; and B. Draper; 1982? R::CONTROL ADAPTIVE U.Mass/Martin-Marietta Nonlinear adaptive control of mechanical linkage systems with applications to robotics ? Proc. IEEE D&C?, 1982/3? Erdman, A.G.; Sandor, G.N.; and R.G. Oakberg; 1972 M::3D::KIN SYNTH DYN ELASTIC PERF ERROR U.Minn/RPI A general method for kineto-elastodynamic analysis and synthesis of mechanisms J. Engineering for Industry, ASME Trans. v.94:1193-1205 { { Presents an elaborate analysis for the deformation of elastic links { using the stretch-rotation matrix [Sandor and Bishopp 1969], { [Sandor68]. Dynamic errors due to link deformations (torsional, { flexural and longitudinal) are considered; also basis for treatment { of coulomb and viscous friction. Method used is power conservation: { input motor power [F(motor speed,voltage)] { = dynamic power + friction power + strain energy rate. { Flexibilities are represented in appropriate matrix form. { Chieflly massless analysis; distributed masses are considered later in { [Imam,Sandor and Kramer. J.EI 72]. (67 References) { { @***EXTENSION: To elastic robot arms; deal with friction and elasticity in { one homogeneous approach? Kinematics recomputed after { preoperating on link geometry w/ appropriate stretch-rotn { matrix; all elasticity data in flexibility matrix form; { Also possibilities for elasticity calibration. Eun, T.; Cho, Y.J.; and H.S. Cho; 1982 ACTUATOR::PERFORMANCE ERROR KIN CONTROL Korea Stability and positioning accuracy of a pneumatic on-off servomechanism ACC 1982:1189-1194 Featherstone, R.; 1982 R::DYN SIMULATION Edinburgh A program for simulating robot dynamics Department of Artificial Intelligence, U. Edinburgh, DAI-116, August 1982 Featherstone, R.; 1982 R::DYN TRANSFORM COMPUTATION WRIST-PARTITIONED U.Edinburgh-D.AI High speed velocity and force transformations for robots with three intersecting revolute joint axes at the wrist DAI Working Paper 115, July 1982, Dep. of Artif Intell, U.Edinburgh Featherstone, R.; 1983 R::DYN Edinburgh The Calculation of Robot Dynamics Using Articulated-Body inertias International J. of Robotics, 2(1):13-29 Featherstone, R.; 1983 R::DYN INVERSE KIN-INVERSE U.Edinburgh Calculation of robot joint rates and actuator torques from end effector velocities and applied forces Mech. and Machine Theory, v.18(3):193-198 Featherstone, R.; 1983 R::SIMULATION DYN U. of Edinburgh-AIL Update on the Robot Simulator Program Technical Report, DAI Working paper 144, Department of AI, University of Edinburgh, 1983 Featherstone, R.; 1984 R::3D::SCREW DYN U.Edinburgh Spatial notation: a tool for robot dynamics DAI Research Paper 213, Submitted "Instt of Measurement and Control Symposium on Robotics - Dynamics, Control and Advanced Programming", Cambridge (UK??), 10-11 April, 1984 Featherstone, R.; 1985 R::DYN SIMULATION ERROR PERFORMANCE SENSOR-FORCE U.Edinburgh-D.AI The simulator verification experiment U.Edinburgh DAI Working paper 178, April 1985 { { Tests to compare performance of actual robot to the Featherstone { simulator. (PUMA). Results: the inertia parameters were not good { enough and friction was not included. Featherstone, Roy; 1984 R::DYN SCREW KIN SIMULATION FRICTION U. Edinburgh Robot Dynamics algorithms Ph.D. Thesis, University Of Edinburgh { { Starts off with a comparative analysis of the different notations used in { spatial kinematics and dynamics, and develops the slightly original { "spatial notation" or "spatial vector algebra". This uses 6-vectors and { with motor properties instead of the dual number representations used by { previous researchers which breaks down on the representation of inertias. { { More on this after I finish reading it. An extremely lucid thesis. { Must reading in spatial dynamics. Fossman, R.; and Sorensen, A. Jr.; 1980 DYN::ELASTIC UWisc-Milw Influence of flexible connections on response characteristics of a beam J. Mechanical Design, v.102:829-834 Freund, E.; 1982 R::CONTROL FernUniversitat Hagen Fast Non-linear Control with arbitrary pole-placement for industrial robots and manipulators Part 1: The general approach IJRR, v.1(1):65-78, Spring 1982. { (Repeat Paper "Direct...") Freund, E.; 1983 R::CONTROL FernUniversitat Hagen Direct Design Methods for the Control of Industrial Robots Computers in Mechanical Engineering, April 71-79. (Repeat Paper "Fast...) Freund, E.; 1984 R::CONTROL USC-EE On the design of multi-robot systems IEEE Conference on Robotics, Atlanta, March 1984, p.477-490 Freund, Eckhard; 1983 R::CONTROL-HIER FernU., Iserlohn, Hierarchical nonlinear control for robots Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.818-840 Fukuda, Toshio; and Yutaka Kuribayashi; 1983 R::CONTROL ELASTIC VIBRATION SciUTokyo Precise positioning control of flexible arms with reliable control system Proc. ICAR, 1983, p.237-244 Fukuda, Toshio; and Yutaka Kuribayashi; 1984 R::CONTROL ELASTIC VIBRATION SciUTokyo Flexibility control of elastic robotic arms and its application to contouring control IEEE Conference on Robotics, Atlanta, March 1984, p.540-545 { { An extension of previous work [83] to include { a) Force feedback applications in compliant applications. { b) Robust control structure: dual processors + checks against { sensor-failures (isolate sensor data from control sys) + { control system degradation checks (key parameters exceed { threshold values, e.g. computn time) { { Also simulation experiments on a small scale w/ two link manipulator. { (EXTENSION: how about estimating the modes etc. while executing motion { => Self-calibrn) Futami, Sigeru; Kyura, Nobuhiro; and Shujiro Hara; 1983 R::CONTROL VIBRATION Yaskawa Vibration absorption control of industrial robots by acceleration feedback IEEE Trans. Indl. Electronics, v.IE-30(3):299-305 Gilby, J.H.; Mayer, R.; and G.A. Parker; 1984 R::PERFORMANCE DYN U.Surrey-ME Dynamic performance measurement of robot arms Proceedings 1st Robotics Europe Conference, Brussels, 6/84, (ed. K. Rathmill et al), Springer-Verlag 1985, pp. 32-44 Gill, G.S.; and Freudenstein, F.; 1983 M::3D::DYN Owens-Corning/Columbia Minimization of inertia-induced forces in spherical four-bar mechanisms. Part 1: The general spherical four-bar linkage J. Mechanisms, Transmissions and Automation in Design, v.105:471-477 Gill, G.S.; and Freudenstein, F.; 1983 M::3D::DYN Owens-Corning/Columbia Minimization of inertia-induced forces in spherical four-bar mechanisms. Part 2: Wobble-plate engines J. Mechanisms, Transmissions and Automation in Design, v.105:478-483 Givens, E.J.; and Wolford, J.C.; 1969 M::3D::DYN Proct&Gam(Cncnti)/UNebrL Dynamic characteristics of spatial mechanisms J. Engg. for Industry, v.91:228-234 Goldenberg, A.; and H.S. Dharna; 1984 CONTROL::SIMULATION U.Toronto-ME/EE Decoupling control of a robot manipulator. Application to a PUMA-560 7th Symposium on Engg. Applications of Mechanics, Toronto, p.13-19 { A simulated application of the [Freund 83] algorithm. Goldenberg, A.A.; 1982 R::CONTROL U.Toronto-ME Trajectory tracking using a new robust approach Proc. IEEE D&C, 1982, p.357-359 Golla, David F.; Garg, Subash C.; and Hughes, Peter C.; 1981 R::CONTROL Linear state-feedback control of manipulators Mech. and Machine Theory, v.16:93-103, also reprinted in Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 3 Gupta, V.; 1974 M::3D::DYN Bell Labs,Holmdel Dynamic Analysis of Multi-Rigid-Body Systems J. Engg. for Industry, v.96:886-892 Hanafusa, Hideo; and Yoshihiko Nakamura; 1983 R::TRAJECTORY HAND CONTROL ADAPTIVE AUTONOMOUS AutomnResLabs,KyotoU. Autonomous trajectory control of robot manipulators Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.863-882 Hemami, H.; and R.L. Farnsworth; 1977 HUMAN::DYN STABILITY WALK OSU-EE Postural as in Classical and Quantum Physics American J. of Physics, v.39:1013-1971 Hemami, H.; and Vijay C. Jaswa; 1978 HUMAN::DYN OSU-EE On a three-link model of the dynamics of standing up and sitting down IEEE Trans. Systems, Man and Cybernetics, v.SMC-8(2):115-120 Hemami, H.; and Weimer, F.C.; 1981 DYN::NONHOLONOMIC OSU-EE Modelling of Nonholonomic dynamic systems with applications J. Appl. Mechanics, v.48:177-181 Hemami, Hooshang; and Yuan-Fang Zheng; 1984 R::MOBILE::WALK HUMAN DYN COMPLIANCE OSU-EE Dynamics and control of motion on the ground and in the air with application to biped robots J. of Robotic Systems, v.1(1):101-116 Hewitt, J.R.; and J. Padovan; 19?? CONTROL:: U.Newcsl-n-tyne-ME Decoupled feedback control of robot and manipulator arms ??IFToMM? Ho, J.Y.L.; 1977 SPACECRAFT::DYN ELASTIC LockheedPaloAlto Direct path method for flexible multibody spacecraft dynamics J. Spacecraft and Rocketry, v.14:102-110 Hollerbach, J.M.; 1980 R::DYN MIT-AIL A Recursive Lagrangian Formulation of Manipulator Dynamics and a Comparative Study of Dynamics Formulation Complexity IEEE Trans. Syst., Man, and Cybern., Nov., 730-736 Hollerbach, J.M.; 1984 R::DYN MIT-AIL Dynamic scaling of manipulator trajectories J. Dyn. Systems, Meas. and Control, ASME Trans. v.106:102-106 Hollerbach, John M.; 1982 R::DYN OVERVIEW Dynamics Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 2 Hollerbach, John M.; and Gideon Sahar; 1983 R::DYN KIN ACCELERATION MIT-AIL Wrist-partitioned, inverse kinematic accelerations and manipulator dynamics. (Repeat paper in IEEE Conf Robotics, Atlanta, 1984) IJRR, v.2(4), Winter 1983, p.61-76 Hooker, W.; 1970 SPACECRAFT::DYN ELASTIC LockheedPaloAlto A set of r dynamical attitude equations for an arbitrary n-body satellite having r rotational degrees of freedom AIAA Journal, v.8:1205-1207 Hooker, W.W.; and Marguiles, G.; 1965 SPACECRAFT::DYN ELASTIC Philco/PaloAlto The dynamical attitude equations for an n-body satellite J. Astronomical Sciences, 12(4):123-128 { { Hooker and Margulies [1965] were the first to consider the general n-body { dynamical system. Their analysis is restricted to valid topological trees { (excluding closed loops), with only rotational joints. { The "connection barycenter" of a body is defined as the new center of { mass obtained by loading each joint on the body with the residual mass of { the rest of the chain connected through that joint. { An elegant tensorial dynamics computation is performed to obtain the { equations of attitude motion (i.e. in terms of the hinge angles as { variables) in a barycentric coordinate frame. { Each joint is modelled as a three dimensional rotational joint, with the { extra degrees of freedom curtailed by constraint equations, for which a { general elimination scheme is also presented. The analysis is based on a { Newton-Euler scheme, and is intrinsically recursive in nature. Horak, Dan T.; 1984 R::CONTROL COMPUTATION DYN BendixAerosp.TechCentr,Columbia,Md. A Fast Computational Scheme for Dynamic Control of Manipulators ACC 1984, vol.2:625-630 { { An exact dynamic computation algorithm based on the fact that most robot { designs are not general D-H type, but belong to one of a few design { categories. Also, models are wrist-partitioned. Using this, an advanced { N-E approach is adopted which is claimed to be five times faster than { the standard [LWP80] N-E scheme. Horn, Berthold K.P.; 1974 R::2D::KIN DYN MIT Kinematics, Statics, and Dynamics of Two-Dimensional Manipulators ?bk? p.274-308 Huston, R.L.; Passerello, C.E.; and Harlow, M.W.; 1978 SPACECRAFT::DYN ELASTIC U.Cinn Dynamics of Multirigid-Body Systems J. Appl. Mech. 45:889-894 Huston, R.L.; and Frederic A. Kelly; 1982 R::DYN COMPUTATION U.Cinn The development of equations of motion of single-arm robots IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(3):259-266 { Based on Kane's equations; rigid links. (30 Refs) Huston, R.L.; and Passerello, C.E.; 1970 HUMAN::DYN U.Cinn On the dynamics of a human body model J. Biomechanics, v.4:369-378 Huston, R.L.; and Passerello, C.E.; 1970 SPACECRAFT::DYN U.Cinn On Lagrange's form of D'Alembert's Principle Matrix and Tensor Quarterly, v.23:109-112 Huston, Ronald L.; 1980 R::DYN ELASTIC U.Cin. Compliance in manipulator links and joints Workshop on Research to advance the state of robotics, University of Rhode Island, (org.Birk and Kelley) April 1980, p.129-145 Huston, Ronald L.; Hessel, Richard E.; and James M. Winget; 1976 HUMAN::DYN NUMERICAL U.Cinn Dynamics of a crash victim - a finite segment model AIAA Journal, February 1976, v.14(2):173-178 Imam, Imdad; and George N. Sandor; 1975 M::DYN ELASTIC DESIGN OPTIM RPI High-speed mechanism design - a general analytic approach J. Engineering for Industry, ASME Trans. v.97:609-628 { @*** { Important concepts for the design of elastic mechanisms. { { Prime strategy is: { a) take dynamic effects due to elasticity into account. { b) Determine obj.fn to be minimized; this could be mass, maximum { stress, elastic displacement, etc. { c) design variables are link shapes and (uniform) cross-section areas. { d) constraints can be deflections or stress limits. { Several example link designs are optimized. Izaguirre, Alberto; and Richard P. Paul; 1985 R::DYN LAGRANGIAN COMPUTATION U.Penn-CIS Computation of the inertial and gravitational coefficients of the dynamics equations for a robot manipulator with load IEEE International Conference on Robotics and Automation, St. Louis, March, 1985, p.1024-1032 Izaguirre, Alberto; and Richard P. Paul; 1986 R::DYN LAGRANGIAN EQUATION-GENERATION COMPUTATION U.Penn-CIS Automatic generation of the dynamic equations of the robot manipulators using a LISP program IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.220-226 Jandrasits, W.G.; and Lowen, G.G.; 1979 M::2D::DYN ELASTIC Westinghse/CUNY The elastic-dynamic behavior of a counterweighted rocker link with an overhanging endmass in a four-bar linkage. Part I: Theory J. Mechanical Design, 101:78-89 Jandrasits, W.G.; and Lowen, G.G.; 1979 M::2D::DYN ELASTIC Westinghse/CUNY The elastic-dynamic behavior of a counterweighted rocker link with an overhanging endmass in a four-bar linkage. Part II: Experiment J. Mechanical Design, 101:89-98 Jasinski, P.W.; Lee, H.C.; and Sandor, G.N.; 1971 M::2D::DYN ELASTIC RPI Vibrations of Elastic Connecting Rod of a High-Speed Slider-Crank Mechanisms J. Engg. for Industry, 93:636-644 Jayasuriya, Suhada; and M.A. Zohdy; 1984 R::2D::CONTROL TRAJECTORY ERROR Mich.State-ME/OaklandU Precise trajectory following for robotic manipulators ACC, v.1:320-322 Jerard, R.B.; and S.C. Jacobsen; 1980 R::MULTI-ARM::CONTROL Dartmouth/U.Utah Laboratory evaluation of a unified theory for simultaneous multiple axis arm control J. Biomechanical Engg., v.1202:199-207 Jerkovsky, W.; 1976 SPACECRAFT::DYN Aerosp.Corp.El Segundo The transformation operator approach to multi-subsystems dynamics. Part 1: The general approach Matrix and Tensor Quarterly, v.27:48-59 Johnson, David G.; and John J. Hill; 1985 R::CONTROL APPLICATION U.Hull-ElectronicEng/BristolPoly-DeptofEng A Kalman Filter Approach to Sensor-Based Robot Control IEEE Journal of Robotics and Automation, Sept. 1985, v.RA-1(3):159-162 Johnson, Timothy L.; 1982 R::CONTROL OVERVIEW Feedback Control Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 3 Joshi, Jagdish; and Alan A. Desrochers; 1986 MOBILE::CONTROL KIN ERROR SIMULATION RPI-ECSE Modeling and control of a mobile robot subject to disturbances IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.1508-1513 Judd, R.P.; and D.R. Falkenburg; 1983 R::DYN ELASTIC U.Oalkland(MI) Dynamics of Nonrigid Articulated Robot Linkages American Control Conference, San Francisco, June, 1983 Kahn, M.E.; and Roth, B.; 1971 R::CONTROL Memorex/Stanford The Near-Minimum-Time Control of Open-Loop Articulated Kinematic Chains J. Dyn. Systems, Meas. and Control, 93:164-172 { { All concepts in this paper are presented for a specially configured { three-DOF arm (?Stanford arm?), which is designed solely from the point of { view of simplifying the algebra. { The equations of motion are derived in fully expanded notation in terms of { the local accelerations and net external forces. { These equations, along with the maximum torque histories and initial and { final joint states, act as constraints for the minimization problem with { the only functional being time. A suitable Hamiltonian is derived. { The solutions can be obtained numerically from a set of 12 first-order { non-linear differential equations with initial and final conditions. These { are shown to be of the bang-bang type, with sign reversals being dependent { on time-dependent functions. { Also, these solutions are not guaranteed stable, and the optimality is { dependent on initial and final configurations, so that the entire set of { computations have to be performed anew for each trajectory. { For this reason, a feedback control scheme is also presented based on a { linearised dynamic model. The linearisation is performed about the final { (desired) configuration, and higher powers of perturbations are neglected. { With some further approximations, the control torques can be decoupled. { Simulation results demonstrate that the suboptimal control results in some { overshooting (20-70%), as is to be expected. Kalayev, A.V.; Noskov, V.P.; and Yu. V. Chernukhin; 1981 R::CONTROL Taganrog Homogeneous control structure for an adaptive robot-manipulator Engg. Cybernetics, 1981, v.19(6):98-103 Kane, T.R.; 1961 DYN::NONHOLONOMIC Stanf-EM Dynamics of Nonholonomic Systems J. Applied Mechanics, v.28:574-578 Kane, T.R.; and M.P. Scher; 1969 HUMAN::DYN Stanford-AM A dynamical explanation of the falling cat phenomenon J. Solids Structures, v.5:663-670 Kane, T.R.; and M.P. Scher; 1970 HUMAN::DYN Stanford-AM Human self-rotation by means of limb movements J. Biomechanics.3:39-49 Kane, Thomas R.; and David A. Levinson; 1983 R::DYN NONHOLONOMIC Stanf/Lockhd.Palo The use of Kane's dynamical equations in robotics IJRR, Fall 1983, v.2(3):3-21 Kasahara, H.; and Seinosuke Narita; 1985 R::DYN PARALLEL Wasea U.-EE, Tokyo Parallel Processing of Robot-Arm Control Computation on a Multi- microprocessor System IEEE Journal of Robotics and Automation, June 1985, v.RA-1(2):104-113 { Extensions and improvements on [Luh and Lin 82] Kelly, Fred A.; and Ronald L. Huston; 1981 R::DYN ELASTIC U.Cin Modelling of flexibility effects in robot arms JACC, Charlottesville, 1981, paper WP-2C Khalil, W.; M. Gautier; 1985 R::DYN Lab.d'Automatica-Nantes CNRS, Cedex, France On the Derivation of the Dynamic Models of Robots ICAR 1985, pp 243-250 { It may be poss. to regroup the inertias for improved dyn models. Kircanski, M.; M. Vukobratovic; N. Kircanski; and A. Timcenko; 1987 R::KIN DYN 3D EQUATION-GENERATION Mihajlo Pupin Inst., Beograd Yugo. A New Program Package for the Generation of Efficient Manipulator Kinematic and Dynamic Equations in Symbolic Form Technical paper -- Pupin Institute { { This paper is concerned with a software package that takes a { description of a robotic manipulator, and outputs optimized high- { level computer program code to carry out the requested operations { for kinetic and dynamic control of the manipulator. The algorithm { attempts to reduce the computational load significantly by applying { only those operations which are necessary for the requested trans- { formation. This is done through the use of recursive symbolic relations, { and is presented with test cases from several typical robots for { different optimization levels. -MarkL 2/89 Koivo, A.J.; Lewczyk, R.; and T.-H. Chiu; 1984 R::CONTROL ADAPTIVE VISION Adaptive path control of a manipulator with visual information IEEE Conference on Robotics, Atlanta, March 1984, p.477-490 Koivo, Antti J.; and Ten-Huei Guo; 1983 R::CONTROL ADAPTIVE Purdue-EE Adaptive linear controller for robotic manipulators IEEE Trans. Automatic Control, v.AC-28:162-171; Reprinted in "Tutorial on robotics", Ed. C.S.G. Lee, R.C.Gonzalez et al, IEEE Computer Society Press, pp. 233-242 Korikov, A.M.; and V.G. Reznik; 1981 R::CONTROL TRAJECTORY Tomsk(USSR) En route motion control of a transport robot Engg. Cybernetics, 1981, v.19(1):41-47 Krut'ko, P.D.; and N.A. Lakota; 1981 R::CONTROL DYN Moscow Construction of algorithms for controlling the motion of manipulation robots on the basis of the solution of the inverse dynamics problem Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics v.19(1):34-40) Krut'ko, P.D.; and N.A. Lakota; 1982 R::CONTROL DYN Moscow Synthesis of algorithms for control of robot motion by the method of inverse dynamics. Specification of trajectories in coordinate form Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics v.20(1):116-121) Krut'ko, P.D.; and Ye. P. Popov; 1982 R::CONTROL DYN Moscow Motion control of manipulation robots based on second-order kinematic algorithms Tekhnicheskaya Kibernetika, (trans. Engg. Cybernetics v.19(6):89-97) Kuntze, H.-B.; and A. Jacubasch; 1984 R::CONTROL FORCE ELASTIC Fraunhofer Inst f Info&DP(IITB), Karlsruhe On the closed-loop control of an industrial robot ACC 1984, v.3:1217-1223 Lakota, N.A.; Rakhmanov, Ye.V.; and V.N. Shvedov; 1980 R::CONTROL ELASTIC Moscow Trajectory control of an elastic manipulator Tekhnicheskaya Kibernetika, (tr. Engg. Cybernetics v.18(2):45-52) Langrana, N.A.; and Bartel, D.L.; 1975 M::3D::BIO::DYN EQUATION-GENERATION Cornell An automated method for dynamic analysis of spatial linkages for biomechanical applications J. Engg. for Industry, v.97:566-574 Lathrop, Richard H.; 1986 R::COMPLIANCE SIMULATION DYN NEWTON-EULER SCREW MIT-AIL Constrained (closed-loop) robot simulation by local constraint propagation IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.689-694 Lawrence, Peter D.; and Wen-Chun Lin; 1972 PROSTHETICS::CONTROL STOCHASTIC REAL-TIME ChalmersU,Goteborg,Sweden/CWRU-CIS Statistical decision making in the real-time control of an arm aid for the disabled IEEE Trans. Systems, Man and Cybernetics, v.SMC-2(1):35-42 Leahy, M.B.; Valavanis, K.P.; and G.N. Saridis; 1986 R::CONTROL OVERVIEW SIMULATION DYN ERROR PERFORMANCE RPI-EE The effects of dynamic models on robot control IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.49-54 Lee, C.S.G.; 1982 R::CONTROL KIN DYN U.Mich Robot Arm Kinematics, Dynamics and Control IEEE Computer, Dec., 62-80 { (Same Repeat paper in IEEE CH1810-1/82, p.601-610.) Lee, C.S.G.; 1983 R::DYN OVERVIEW U.Mich Robot Arm Dynamics Tutorial on robotics, Ed. C.S.G. Lee, R.C.Gonzalez et al, IEEE Computer Society Press, pp. 93-102 Lee, C.S.G.; Chung, M.J.; and B.H. Lee; 1984 R::CONTROL ADAPTIVE U.Mich Adaptive control for robot manipulators in joint and cartesian coordinates IEEE Intl. Conf. on Robotics, Atlanta, 3/1984, p.530-539 Lee, C.S.G.; Chung, M.J.; and B.H. Lee; 1984 R::CONTROL ADAPTIVE U.Mich An approach of adaptive control for robot manipulators J. Robotic Systems, v.1(1):27-57 (1984) Lee, C.S.G.; Lee, B.H.; and R. Nigam; 1983 R::DYN U.Mich Development of the generalized d'Alembert equations for mechanical manipulators Proc. IEEE D&C, 1983, p.1205-1210 Lee, C.S.G.; Mudge, T.N.; and J.L. Turney; 1982 R::CONTROL ARCHITECTURE U.Mich-CRIM Hierarchical control structure using special purpose processors for the control of robotic arms ?IEEE ? Lee, C.S.G.; and B.H. Lee; 1984 R::CONTROL ADAPTIVE RESOLVED-RATE U.Mich-E&CE Resolved motion adaptive control for mechanical manipulators ACC, v.1:314-319 Lee, C.S.G.; and M.H. Chen; 1983? R::CONTROL U.Mich A suboptimal control design for mechanical manipulators ?Proc. IEEE D&C 1983? p.1056-1061 Lee, C.S.G.; and M.J. Chung; 1982 R::CONTROL ADAPTIVE U.Mich An adaptive control strategy for computer-based manipulators Proc. IEEE D&C, p.95-100(1982) Lee, C.S.G.; and M.J. Chung; 1984 R::CONTROL ADAPTIVE U.Mich An adaptive control strategy for mechanical manipulators IEEE Trans. Automatic Control, v.AC-29(9):837-840(1984) Lee, C.S.G.; and P.R. Chang; 1986 R::PARALLEL DYN COMPUTATION Purdue-EE Efficient parallel algorithm for robot inverse dynamics computation IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.851-857 Leininger, Gary G.; 1983 R::CONTROL Purdue/SOHIO Adaptive control of manipulators using self-tuning methods Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.798-816 { Apparently the scheme needs no mathematical formulation of the dynamics. Leininger, Gary G.; 1984 R::CONTROL Purdue Self-tuning adaptive control of manipulators Advanced Software in Robotics, (ed. A. Danthine and M. Geradin), Elsevier, 1984 Leininger, Gary G.; Backes, Paul G.; and Chun-Hsien Chung; 1984 R::CONTROL FORCE Tool coordinate control of a PUMA arm ACC 1984, v.3:1560-1565 {Resolved Motion Force Control (RMFC) vs. Self tuning control (STC) Lewis, Richard A.; 1983 R::CONTROL ADAPTIVE JPL Adaptive control of a robotic manipulator Proc. IEEE D&C, 1983, p.743-748 Li, Chang-Jin; 1986 R::DYN LAGRANGIAN COMPUTATION Beijing Inst. of Tech.-Auto.Control A new method for dynamic analysis of robot IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.227-232 Liegois, A.; Fournier, A.; and M.J. Aldon; 1980 R::CONTROL ADAPTIVE MODEL-REF Montpelier Model reference adaptive control of high-velocity industrial robots JACC 1980, paper TP10-D Liegois, A.; Khalil, W.; Dumas, J.M.; and M. Renaud; 1976 M::3D::DYN Montpelier3/Toulouse Mathematical and computer models of interconnected mechanical systems Theory and Practice of Robots and Manipulators, Proc. Second Intl. CISM-IFToMM Symposium, 1976, Warsaw { { The Lagrangian formulation is used to develop a general mathematical model { in which the constraint equations do not have to be explicitly formulated. { which the constraint equations do not have to be explicitly formulated. { The program incorporates several advanced features such as automated { symbolic representation generation and is computationally faster than { Uicker's [1972] model. A comparative evaluation of models proposed { previous to 1976 is also presented. Liegois, Alain; 1977 M::3D::CONTROL Montpelier Automatic supervisory control of the configuration and behavior of multibody mechanisms IEEE Trans. on Systems, Man and Cybernetics, v.SMC-7(12):868-871 Likins, P.W.; 1972 SPACECRAFT::DYN ELASTIC UCLA Finite element appendage equations for hybrid coordinate dynamic analysis Intl. J. Solids Structures, v.8:709-731 Likins, P.W.; 1973 SPACECRAFT::DYN ELASTIC UCLA Dynamic Analysis of a system of hinge-connected rigid bodies with nonrigid appendages Intl. J. Solids Structures, v.9:1473-1487 Likins, P.W.; 1975 SPACECRAFT::DYN ELASTIC UCLA Quasicoordinate equations for flexible spacecraft AIAA Journal, v.13:524-526 Livermore, D.F.; 1967 M::3D::DYN STATICS U.Wisc-Mad-ME The determination of equilibrium configurations of spring-restrained mechanisms using (4x4) matrix methods J. Engineering for Industry, ASME Trans. v.99:87-93 Loh, N.K.; Cheng, S.K.; Cheok, K.C.; and K.S. Oo; 1984 R::CONTROL OaklandU. CtrRobtcs&AdvdAutmn On the Implementation of Manipulator Control ACC, v.2:878-880 { Running on two IBM PC's; Bendix PAC Robot. Lowen, G.G.; and Jandrasits, W.G.; 1972 M::2D::DYN ELASTIC CUNY Survey of investigations into the dynamic behavior of mechanisms containing links with distributed mass and elasticity Mech. and Machine Theory, 7:3-17 Luh, J.Y.S.; and C.S. Lin; 1982 R::ARCHITECTURE PARALLEL DYN COMPUTATION CONTROL Scheduling of parallel computation for a computer-controlled mechanical manipulator IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(2):214-234 { { A comprehensive look at the possibilities of using separate { microprocessors for each joint and yet generating optimal scheduling. { Issues considered include { - subtask decomposition for forward kinematics and inverse dynamics { - execution times at each subtask stage { - precedence relationships (due to data flow requirements), { - a suitable optimization strategy, "variable" branch-and-bound, { - architecture and automata structure using pushdown stacks { - computation time, efficiency, etc. Luh, J.Y.S; 1983 R::CONTROL Purdue Joint torque control by a direct feedback for industrial robots IEEE Trans. on Automatic Control, v,AC-28(2):153-161 Luh, J.Y.S; 1984 R::DYN SCREW Purdue Lagrangian formulation of robot dynamics with dual-number transformation for computational simplification IEEE Intl. Conf. on Robotics, Atlanta, March 1984. (not in procs) Luh, J.Y.S; Walker, M.W.; and Paul, R.P.C.; 1980 R::CONTROL Purdue2/Aerosp.Corp Resolved-acceleration control of mechanical manipulators IEEE Trans. on Automatic Control, v.AC-25(3):468-474 Luh, J.Y.S; Walker, M.W.; and Paul, R.P.C.; 1980 R::DYN COMPUTATION Purdue-EE On-line computational scheme for mechanical manipulators J. Dynamic Systems, Meas. and Control 102:69-76 Luh, J.Y.S; and C.S. Lin; 19?? R::DYN CONTROL Purdue Automatic generation of dynamic equations for mechanical manipulators ??Conf. Paper TA-2D Lunde, Erdling; Olav Egeland; and Jens G. Balchen; 1987 R::CONTROL NON-LINEAR OPTIMAL REDUNDANT Norwegian Institute of Technology, Division of Engineering Cybernetics. Dynamic control of Kinematically redundant robotic manipulators Modeling, Identification and Control, 1987, vol.8(3):159-174 { { This article discusses and simulates an algorithm in which a { redundant manipulator arm can be controlled such that the first stages { act as a positioner with a lower bandwidth and the later stages (for { instance the wrist vs. the arm) with a higher bandwidth. Two { important steps of the algorithm are first to create a generalized { task space which is the vector extension of the actual task space { with the configuration space. This makes the redundancy problem { easier to tackle. The second step is to now convert this matrix into { a state space representation for the dynamic analysis. { { Although there is a claim that the bandwidths of the parts may be { specific, the simulation graphs seem to show no frequency difference, { only amplitude. { { -JBSaxon 2/89 Luo, R.; Chen, J.; and J.C.S. Yang; 1984? R::CONTROL VIBRATION U.Md Identification of the dynamic characteristics of robotic systems ?Proc. 14th ISIR 1984? paper 19-103 Mahil, Surjit S.; 1982 R::DYN LAGRANGIAN COMPUTATION ELLIPSOID Purdue,Calumet-EE On the application of Lagrange's method to the description of dynamic systems IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(6):877-889 { { Evolves a slightly different Lagrangian approach using partial derivatives { of the various kinematic parameters BEFORE computing the scalar products { used in determining the Lagrangian. CG-based coordinate system is nonD/H. { This leads to an expression for the overall K.E. as a quadratic form, { 1/2 * (phi-dot)-transp * [M] * (phi-dot) { where [M], a function of all the joint configurations and link inertias { is called the "Generalised Inertia Matrix" or GIM. { The required partial derivatives are obtained at relatively low cost since { the elements of the GIM do not depend on the generalized coordinates. { { It is not clear how this method is any superior or even different. { Comparisons are made with several old methods not very well-known for { computational efficiency (Uicker65, Hooker&65, Langrana&75, etc). { The N-E approach is dismissed in a cursory manner. Clearly, [LWP81] came { too late to be considered by the author. { { COMMENT: IS GIM = to Asada's GIE (=..ellipsoid)? { @*** write for a copy of thesis. Margolis, D.L.; 1980 M::3D::DYN BOND-GRAPH UCD Dynamical models for multidimensional structures using bond graphs J. Dynamic Systems, Meas. and Control 102:180-187 Maros, Desideriu; and Nicolas Orlandea; 1971 M::2D::DYN Polytechnic,Cluj,Romania/UofM Contributions to the determination of the equations of motion for multidegree of freedom systems J. Engineering for Industry, ASME Trans. v.93:191-195 McClamroch, N. Harris; 1986 R::COMPLIANCE THEORY DYN U.Mich-AeroEngg-CRIM Singular systems of differential equations as dynamic models for constrained robot systems IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.21-28 McGhee, R.B.; 1980 R::CONTROL FUTURE OSU-ME Comments of the "Rapporteur for control" Workshop on Research to advance the state of robotics, University of Rhode Island, (org.Birk and Kelley) April 1980, p.101-108 McGhee, R.B.; Koozekanani,S.H.; Weimer,F.C.; and S. Rahmani; 1979 HUMAN::DYN WALK OSU-EE Dynamic modelling of human locomotion JACC 1979:405-413 McGhee, R.B.; and Orin, D.E.; 1976 R::::WALK CONTROL OSU A mathematical programming approach to control of joint positions and torques in legged locomotion systems CISM-IFToMM, p.225-232, 1976 Megahed S.; and M. Renaud; 1982? R::CONTROL Toulouse Minimization of the computation time necessary for the dynamic control of robot manipulators 12th ISIR, 1982, Paris? p.469-478 Meirovitch, L.; 1970 DYN::STABILITY BOOK Methods of Analytical Dynamics McGraw-Hill, New York Meirovitch, L.; and H. Oz; 1979 SPACECRAFT::DYN CONTROL OVERVIEW VPI An assessment of methods for the control of large space structures JACC 1979:34-41 Meirovitch, Leonard; and Robert A. Calico; 1973 SPACECRAFT::DYN ELASTIC::STABILITY OVERVIEW VPI/WPAFB A comparative study of stability methods for flexible satellites AIAA Journal, v.11(1):91-98 Meystel, A.; 1983 R::CONTROL TASK UF-EE Decoupling and decentralized control of intelligent multiactuator system Proc. IEEE Intl. Large Scale Systems Symp., 1982 p. 495-498 Meystel, A.; 1983 R::CONTROL TASK UF-EE Optimum positioning of multilink manipulators with DC motor drives Proc. 26th Machine Tools Industry Conference, 1983, p.1-10 Midha, A.; Erdman, A.G.; and Frohrib, D.A.; 1977 M::2D::DYN ELASTIC U.Minn An approximate method for the dynamic analysis of elastic linkages J. Engg. for Industry, 99:449-455 Mingori, D.L.; 1970 CONTROL::DAMPING STABILITY UCLA A stability theorem for mechanical systems with constraint damping J. Applied Mechanics. v.92:253-258 Miura, Hirofimu; and Isao Shimoyama; 1983 MULTI-ARM::R::WALK2::DYN U.Tokyo-ME Dynamical walk of biped locomotion Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.303-325 Miyazaki, Fumio; and Arimoto, Suguru; 1980 CONTROL::WALK OsakaU A control theoretic study of dynamical biped locomotion J. Dynamic Systems, Meas. and Control, ASME Trans. v.102:233-239 Miyazaki, Fumio; and Arimoto, Suguru; 1983 R::CONTROL WALK OsakaU-Engg. A hierarchical control for biped robots International Conference on Advanced Robotics, 1983, Japan, p.299-306 Morris, Henry M.; 1986 MULTI-ARM::CONTROL OVERVIEW ContrlEngg Controlling multiple robot arms Control Engineering, September 1986, p.144-148 Murray, John J.; and Charles P. Neumann; 1984 R::DYN LANGUAGES NUMERICAL CMU-ECE ARM: an algebraic robot dynamic modeling program IEEE Conference on Robotics, Atlanta, March 1984, p.103-114 { Program for automatic generation of dynamic equations. ARM = Algebraic { Robot Modeler. Contains explicit details of the PUMA dynamics terms. Nelson, W.L.; and J.D. Chang; 1984 R::SIMULATION DYN BellLabs, Murray Hill Simulation of a cartesian robot arm IEEE Conference on Robotics, Atlanta, March 1984, p.162-168 { Cartesian robot = three orthogonal axes + wrist; AUTOMATIX et al. { Relatively mu-u-uch simpler computations. Nevins, J.L.; Desai, M.; Fogel, E.; Walker, B.K.; and D.E. Whitney; 1983 R::CONTROL ADAPTIVE COMPLIANCE 3CSDL/2MIT-Aerosp+astronautix Adaptive control, learning and cost effective sensor systems for robotic or advanced automation systems ICAR (Japan), Tokyo, Sept. 1983, p.335-350. Also in Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.983-994 Nigam, R.; and C.S. George Lee; 1985 R::DYN COMPUTATION PARALLEL Burroughs/Purdue-EE A Multiprocessor-Based Controller for the Control of Mechanical Manipulators IEEE Journal of Robotics and Automation, Vol.RA-1(4):173-182, Dec 1985 Okada, Tokuji; 1982 HAND::CONTROL GRASPING Electrotech. Lab, Ibaraki, Computer control of multijointed finger system for precise object-handling IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(3):289-299 Okhotsimsky, D.E.; and Platonov, A.K.; 1976? CONTROL::HUMAN WALK Inst.App.Mech Walker's motion control CISM-IFToMM ?1977? p.216-224 Orin, D.E.; McGhee, R.B.; Vukobratovic. M.; and Hartoch, G.; 1979 R::DYN KIN CWRU/OSU/Mihailo/CWRU Kinematic and kinetic analysis of open-chain linkages utilizing newton-euler methods Math. Biosci., 43:107-130 Orin, D.E.; and Oh, S.Y.; 1978? R::CONTROL WALK COMPLIANCE CWRU-EE A mathematical approach to the problem of force distribution in locomotion and manipulation systems containing closed kinematic chains ?IFToMM '78ish? Orin, D.E.; and Oh, S.Y.; 1981 R::CONTROL WALK COMPLIANCE OSU Control of force distribution in robotic mechanisms containing closed kinematic chains J. Dyn. Systems, Meas. and Control, ASME Trans. v.102:134-141 Orin, David E.; and W.W. Schrader; 1983 R::DYN COMPUTATION KIN-INVERSE OSU-EE Efficient Jacobian determination for robot manipulators Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.727-734 Orlandea, N.; Chace, M.A.; and D.A. Calahan; 1977 M::3D::DYN IowaS.U./UofM2 A sparsity-oriented approach to the dynamic analysis and design of mechanical systems - Part 2 J. Engg. for industry. v.99:773-784 Orlandea, N.; Chace, M.A.; and D.A. Calahan; 1977 M::3D::DYN IowaS.U./UofM2 A sparsity-oriented approach to the dynamic analysis and design of mechanical systems - Part 1 J. Engg. for Industry. v.99:773-784 Orlandea, N.; and Berenyi, T.; 1981 R::DYN SIMULATION Deere Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program J. Mech. Design, v.103:602-607 Orlando, Nancy E.; 1984 R::CONTROL-HIER AI PLANNING ARCHITECTURE NASA Langley An intelligent robotics control scheme ACC, v.1:204-209 Passerello, C.E.; and R.L. Huston; 1971 HUMAN::DYN::CONTROL U.Cinn Human attitude control J. Biomechanics, v.4:95-102 Paul B.; and D. Krajcinovic; 1970 M::2D::DYN NUMERICAL U.Penn./Argonne Labs (Prev. Ingersol Rand Research) Computer analysis of machines with planar motion, Part 2 - Dynamics J. Applied Mechanics, ASME Trans. v.92:703-712 Paul, B.; 1975 M::DYN SIMULATION U.Penn Analytical dynamics of mechanisms - a computer oriented overview Mech. and Machine Theory, v.10:481-507 Paul, R.; 1978? R::CONTROL Purdue-EE Cartesian coordinate control of robots in joint coordinates ?IFToMM? '78-80, p.228-250 Paul, R.P.; Ma Rong; and Hong Zhang; 1983 R::DYN Purdue The dynamics of the PUMA manipulator American Control Conference, San Francisco, June, 1983 Paul, Richard P.; and Bruce Shimano; 1976 R::COMPLIANCE CONTROL Compliance and Control JACC 1976, p.694-699. Reprinted in Reprinted in "Tutorial on robotics", Ed. C.S.G. Lee, R.C.Gonzalez et al, IEEE Computer Press, and in Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 5 Paul, Richard P.C.; 1979 R::CONTROL TRAJECTORY Manipulator cartesian path control IEEE Trans. Systems, Man and Cybernetics, v.SMC-9:702-711. Reprinted in Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 3 Paul,R.P.; 1972 R::KIN DYN SAIL Modelling, trajectory calculation and servoing of a computer controlled arm Stanford AI Lab. Memo AIM-77, Nov. 1972 Paul,R.P.; 1981 R::CONTROL KIN DYN Robot Manipulators - Mathematics, Programming and Control MIT Press, Cambridge, Mass Pennock, G.R.; and Yang, A.T.; 1983 DYN::SCREW UCD-ME Dynamic Analysis of Multi-Rigid-Body Open-Chain System J. Mechanisms, Transmissions and Automation in Design, 105:28-33 { { The techniques of Screw Calculus are used. { Dual Number dynamics involves concepts such as the inertia binor, { which is a 6x6 matrix specifying mass and its distribution in a rigid { body. This is a considerable inelegance since the screw notation has to { be abandoned when representing the inertia-force relationship. { The algebra is more complex to visualise, but can be performed very { mechanically and is easily generalised for all kind of lower pairs. { The Newton-Euler equations are unified into dual-Euler equations, { providing very concise descriptions of the kinetics of rigid bodies. Raibert, Marc H.; Brown, Benjamin Jr.; and Seshayee S. Murthy; 1983 R::WALK DYN STABILITY CMU-RI 3-D balance using 2-D algorithms? Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.279-301 Rakhmanov, Ye.V.; Strelkov, A.N.; and V.N. Shvedov; 1981 R::DYN ELASTIC Moscow Development of a mathematical model of a flexible manipulator mounted on a moving platform Tekh. Kibernetika, (Engg. Cybernetics), v.19(4):81-86 Renaud, M.; and J. Zabala Iturralde; 1979 R::CONTROL Toulouse/Spain Robot manipulator control 9th ISIR, Washington D.C.; p.463-475 Renaud, Marc; 1983 R::DYN LAGRANGIAN COMPUTATION LAAS-CNRS,Toulouse An efficient iterative analytical procedure for obtaining a robot manipulator dynamic model Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.749-764 { { Computes the model for torque as a function of q, q-dot, q-dot-dot. { A 6-link revolute needs 350M & 350A. Roberson, R.E.; 1972 SPACECRAFT::DYN ELASTIC SanDiego A form of the translational dynamical equations for relative motion in systems of many non-rigid bodies Acta Mechanica, v.14:297-308 Roberts, R.K.; Paul, R.P.; and B.M. Hillberry; 1985 R::SENSOR-TORQUE COMPLIANCE CONTROL DYN Purdue-CIDMC The effect of wrist force sensor stiffness on the control of robot manipulators IEEE International Conference on Robotics and Automation, St. Louis, March, 1985, p.269-274 { { Develops the dynamics of compliant joint torque sensing and develops { a deflection compensation control scheme (low b/w active compensator). { The single-joint manipulator control is studied, and experiments { indicate that the deflection compensator can be used to recover some { of the stiffness. Rooney, George T.; and Jaswant Rai; 1976 R::SIMULATION::DYN LiverpoolPoly-Dept.ofMech&ProdEngg. Approximate dynamic simulation of constrained mechanical systems Simulation (Simulation Councils Inc. UK), v.27:55-61 Roth, Bernard ; 1985 R::OVERVIEW KIN CONTROL WRIST Stanford U.-ME Overview on advanced robotics : Manipulation Proceedings ICAR 1985, p.569-580 { { This paper discusses mechanics, control, flexible { systems, configurations, wrist, end-effectors, sensors, programming, { and drives and actuators. Any application of the principles of { mechanics lies the need for an accurate and efficient description of { the "Geometry" and "Kinematics" of the system. For geometry there { are two basic problems. One is "Direct Kinematics". The other is { "Inverse Kinematics". But true kinematic problems involve a matrix { known as the manipulator Jacobian and depends on its inverse. { A good deal of current research in manipulator control has to { do with the problems and costs associated with inverting the { manipulator's Jacobian matrix. Most current manipulation relies on { position control. Advanced robotics will surely rely heavily on a { efficient and robust control scheme, using techniques such as vision { or ultrasonic, direct measurements. Recently there has been an { interest in designing control systems to compensate for the elastic { flexibility. Most manipulators are designed and constructed in as { open-loop single chain kinematic configuration. Wrists enrich the { computational advantage to configurations with three interesting { revolute axes. End-effectors are used to firmly fix objects to the { manipulators. { For future applications we should look at the potential { uses of both dextrous hands and micromanipulators. The main issues { for sensors are how to best integrate the sensors into bus structures { and how to use this information within manipulator controllers. { Programming must get more high-level. - B.Park Roth, Bernard; 1985 R::CONTROL KIN WORKSPACE HAND Stanford-ME Control and mechanics of simple manipulator systems Robotics Research, The Second International Symposium, ed.Hideo Hanafusa and Hirochika Inoue, MIT Press, 1985. (Proceedings of the Symposium on Robotics Research, Kyoto, Japan, August, 1984.), p.197-202 Sadler, J.P.; and Sandor, G.N.; 1972 M::2D::DYN ELASTIC VIBRATION SUNY.Buf/RPI A lumped parameter approach to vibration and stress analysis of elastic linkages J. Engg. for Industry, 95:549-557 Sadler, J.P.; and Sandor, G.N.; 1974 M::2D::DYN ELASTIC SUNY.Buf/RPI Nonlinear Vibration Analysis of Elastic Four-Bar Linkages J. Engg. for Industry, 97:652-661 Samson, C.; 1983 R::CONTROL INRIA,France Robust non-linear control of robotic manipulators IEEE D&C, 1983 Sangveraphunsri, V.; and W.J. Book; 1983 R::CONTROL ELASTIC GeorgiaTech-ME An approach to the minimum time control of a simple flexible arm ASME Winter Conf., Boston Nov 1983, (Reprinted in: Control of Manufacturing Processes and Robotic Systems, ed. D.E. Hardt & W.J. Book, ASME) Sankar, T.S.; and Rajan, G.; 1977 STRUCTURE::DYN ELASTIC Dynamic response of elastic rods under parametric excitations J. Engg. for Industry, 99:41-45 Saridis, George N.; 1984 R::CONTROL-HIER RPI-EE Control performance as an entropy: an integrated theory for intelligent machines IEEE Conference on Robotics, Atlanta, March 1984, p.594-599 { { This work is based on the fact that average Lagrangian = entropy (thermo) { Learning is a process that can be modelled in terms of entropy { [Prigogine, "From Being to Becoming"]: with evolution, the level of { intelligence (entropy) of a system rises irreversibly. { { Some quantification schemes for the entropy in terms of systems theory { are presented - measure of uncertainty of transmission of information. { Optimal solutions = minimal entropy. { { In robotic terms entropy is shown to be approx. equivalent to system { performance. This provides a general criterion for evaluating the { optimality of any feedback control procedure, at any hierarchic level. { However, as translated into more practical terms, this boils down to the { problem of "finding the right sequence of decisions and controls for a { system ... such that it minimizes its total entropy". Saridis, George N.; and Chung-Sin G. Lee; 1979 R::CONTROL OPTIM Purdue-EE An approximation theory of optimal control for trainable manipulators IEEE Trans. Systems, Man and Cybernetics, v.SMC-9(3):152-159 Saridis, George N.; and Harry E. Stephanou; 1977 PROSTHETICS::CONTROL AI FUZZY Purdue/Exxon,Houston A hierarchical approach to the control of a prosthetic arm IEEE Trans. Systems, Man and Cybernetics, v.SMC-7(6):407-420 Sevin, E.; 1972 CONTROL::ESTIMATION U.Negev-ME,Beer-Sheva,Israel Automated design parameter identification: a new approach J. Engineering for Industry, ASME Trans. v.94:388-394 Shabana, A.; and R.A. Wehage; 1983 M::3D::DYN ELASTIC Cntr-CAD,U.Iowa Variable degree-of-freedom component mode analysis of inertia variant mechanical systems J. Mechanisms, Transmission and Automation in Design, ASME Transactions, v.105:371-378 Shin, Kang G.; and Neil D. McKay; 1984 R::CONTROL OPEN-LOOP OPTIM Open-loop minimum-time control of mechanical manipulators and its application ACC 1984, v.3:1231-1236 Shin, Kang G.; and Stuart B. Malin; 1984 CONTROL-HIER:: UofM-CompE/IBM-BR A hierarchical system structure for coordinated control of industrial manipulators IEEE Conference on Robotics, Atlanta, March 1984, p.609-619 Shrivastava, S.K.; 1981 DYN::STABILITY NASA-Houston Stability theorems for multidimensional linear systems with variable parameters J. Applied Mechanics, v.48:174-176 Silver, W.M.; 1982 R::CONTROL DYN NEWTON-EULER LAGRANGIAN MIT-AIL On the equivalence of Lagrangian and Newton-Euler dynamics for manipulators Intl. J. of Robotics Research, v.1(2):60-70 Singh, R.P.; and P.W. Likins; 1983 R::DYN ELASTIC Honeywell/Lehigh Manipulator interactive design with interconnected flexible elements American Control Conference, San Francisco, June, 1983 Skaar, S.B.; 1984 R::CONTROL OPTIM ELASTIC IowaSt.U.-EnggSci&Mech Closed form optimal control solutions for continuous linear elastic systems ACC 1984, v.3:1653-1657 { A finite number of locations on the system are brought to the desired { end-point w/ desired velocities. The residual energy (vibrn?) is analysed. Skaar, S.B.; and D. Tucker; 1983 ELASTIC::CONTROL NUMERICAL IowaState-Mech The optimal control of flexible systems using a convolution integral description of motion IEEE D&C 1983:825-829 { { Proposes a inf. series solution to the 1 DOF flexible rod system; { Structure analysed consists of hub with radially mounted flexible rod. { Two performance indices, defined in terms of control torque integrals are { defined and minimised for "optimal results". { Convergence properties are establishable, truncation error is known, and { costs of additional terms are claimed to be low. { Simulation shows oscillating control torque for a smooth position control. { The O.F. can be extended to include better trajectory matching (for more { than one point in the system, for both pos and velocities, etc.) { { No modal analysis; intriguing convolution integral approach. Skreiner, M.; and P. Barkan; 1971 R::ACTUATOR DYN GE-Philadelphia On a model of a pneumatically actuated mechanical system J. Engineering for Industry, ASME Trans. v.93:211-220 Slotine, Jean-Jacques E.; 1986 R::CONTROL SLIDING DYN ERROR MIT-ME Robustness Issues in robot control IEEE International Conference on Robotics and Automation, St. Louis, March, 1985, p.656-661 { { Considers the problem of uncertainty in load inertias, plant parameters, { modeling etc., and develops a nonlinear method based on "suction control" { (an extension of sliding mode) to overcome these deficiencies for known { bounds on the model errors. Smith, D.A.; Chace, M.A.; and A.C. Rubens; 1973 DYN::LAGRANGIAN EQUATION-GENERATION SIMULATION Wyoming-ME/2UofM-ME The automatic generation of a mathematical model for machinery systems J. Engineering for Industry, ASME Trans. v.95:629-635 Smith, P.G.; and T.R. Kane; 1968 HUMAN::DYN Bellcomm/Stanford On the dynamics of the human body in free fall J. Applied Mechanics, v.90:167-168 { Brief Note; 33 refs Sreenath, N.; and P.S. Krishnaprasad; 1986 R::DYN EQUATION-GENERATION U.Md-SysResCtr/EE DYNAMAN: A tool for manipulator design and analysis IEEE International Conference on Robotics and Automation, San Francisco, April 7-10, 1986, p.836-842 Stamps, F.R.;and C. Bagci; 1983 M::2D::DYN ELASTIC Aerosp.Corp.El Segundo/Tenn.TU Dynamics of planar, elastic, high-speed mechanisms considering three-dimensional offset geometry: Analytical and experimental investigations J. Mechanisms, Transmissions and Automation in Design, v.105:498-510 Starr, G.P.; 1983 R::DYN UNM Swing-free transport of suspended objects with a robot manipulator IEEE D&C, 1983:1484-1487 Stepanenko, Y.; and Vukobratovic, M.; 1976 R::DYN Inst.Mech.Eng.Moscow/M.Pupin Dynamics of Open-Chain Active Mechanisms Math Biosci., 28:137-170 Sugimoto, Koichi; 1987 R::CLOSED-LOOP KIN DYN SCREW Hitachi, Ltd.-- Prodn Engg Research Laboratory Kinematic and Dynamic Analysis of Parallel Manipulators by Means of Motor Algebra Journal of Mechanisms, Transmissions, and Automation in Design, Transactions of the ASME, March 1987, vol.109, 3-7 { { This paper is an in depth study providing a dynamic analysis of { parallel manipulator mechanisms. This includes displacement, velocity, { acceleration, and dynamic torque. It finds parallel manipulators { a valuable mechanism because of the capability to place the actuator { directly upon the element therefore the reduction of weight of the { mechanism. { { The types of systems studied fall under this guideline: The sum of { the number of degrees of freedom and the number of constraints is six. { { -JBSaxon 2/89 Sunada, W.H.; and Dubowsky, S.; 1981 R::DYN ELASTIC FEM UCLA The application of finite element methods to the dynamic analysis of flexible spatial and co-planar linkage systems J. Mechanical Design, v.103:643-651 { { Finite element methods are applied successfully to attack a relatively { broad range of factors. Flexibility effects are implemented using D-H { representations and the Lagrange Equations. Distributed mass and even some { actuator characteristics have been built into the model. { The program augments the standard structural analysis techniques by adding { a translational kinetic energy term, finally obtaining the equations of { motion through the Lagrangian. { These equations (six for each F-E grid point) constitute an enormous set. { Can be reduced considerably through 'Component Mode Synthesis', which { involves reducing the number of variables for dynamic analysis by using { modal coordinates to represent the internal degrees-of-freedom of a link. { The results for an industrial robot compare favorably with experiment. { Computational costs, of course, are high (1 minute for a 2D mechanism on { a IBM 3033). { { An exceptionally well-written paper; very concise and clear motivation. Sunada, W.H.; and Dubowsky, S.; 1983 R::DYN ELASTIC FEM Hughes/UCLA On the Dynamic Analysis and Behavior of Industrial Robotic Manipulators With Elastic Members J. Mechanisms, Transmissions and Automation in Design, 105:42-51 Swartz. Neil M.; 1984 R::DYN SIMULATION ACTUATOR CMU-RI Arm dynamics simulation J. of Robotic Systems, v.1(1):83-100 { { Vector based N-E scheme in the tradition of LWP81 and Walker/Orin82. Tadjbakhsh, I.G.; 1982 M::2D::STABILITY DYN ELASTIC RPI Stability of Motion of Elastic Planar Linkages with Application to Slider-Crank Mechanism J. Mech. Design, v.104:698-703 Takase, Kunitatsu; 1983 R::DIRECT-DRIVE::DESIGN CONTROL ElectrotechLab,Ibaraki Design of torque controlled manipulators composed of direct and low reduction ratio drive joints Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.655-675 Takegaki, Morikazu; and Suguru Arimoto; 1981 R::CONTROL OsakaU. A new feedback method for dynamic control of manipulators J. Dyn. Systems, Meas. and Control, 6/1981, v.102:119-125 Thomas, M.; and Tesar, D.; 1982 R::DYN UF-CIMR, Dynamic Modelling of Serial Manipulator Arms J. Dyn. Systems, Meas. and Control, ASME Trans. v.104:220-227 Thompson, B.S.; Zuccaro, D.; Gamache, D.; Gandhi, M.V.; 1983 MATERIAL::DYN ELASTIC MichStU/Struc.Mech.Conslt/USTankAuto.Cmd/UofM An experimental and analytical study of the dynamic response of a linkage fabricated from a unidirectional fiber-reinforced composite laminate J. Mech., Transmission and Automn in Design, ASME Trans. v.105:526-533 Tomizuka, M.; Dornfeld, D.; Bian, X.-Q.; and H.-G. Cai; 1984 R::CONTROL UC,Berkly-ME Experimental verification of the preview servo scheme for a two-axis positioning system J. Dyn. Systems, Meas. and Control, ASME Trans. v.106:1-5 Totani, Takayoshi; and Miyakawa, Shohei; 1981 R::KIN CONTROL HAND A mathematical model of hand transfer motion for application to manipulator control J. Dyn. Systems, Meas. and Control, ASME Trans. v.102:152-157 Townsend, M.; and Ali A. Seireg; 1972 R::CONTROL TRAJECTORY OPTIM DYN U.Toronto-ME/U.Wisc-ME Optimal trajectories and controls for systems of coupled rigid bodies J. Engineering for Industry, ASME Trans. v.94:472-482 Uicker, J.J.; 1967 M::3D::DYN US Ordnance Corps, Phila Dynamic Force analysis of spatial linkages J. Appl. Mechanics, 34:418-424 { { Uicker [1967] performs a dynamic force analysis of spatial elements { formulating the kinetic energy expression with a 4x4 inertia matrix { and using kinematic relations established in [Denavit et al 1965]. { Lagrange's equations are used to compute the external loading and the { method of variation of constraints to evaluate the joint and bearing { forces. Uicker, J.J.; 1969 M::3D::DYN U.Wisc Dynamic Behavior of Spatial Linkages, Part 1 - exact equations of motion J. Engg for Industry, Feb. v.35:251-257 Uicker, J.J.; 1969 M::3D::DYN U.Wisc Dynamic Behavior of Spatial Linkages, Part 2 - Small oscillations about equilibrium J. Engg for Industry, Feb. v.35:257-265 { { A comprehensive analysis of the dynamic behavior (including stability { criteria) was first carried out by Uicker [1969a, 1969b]. { He extended the previous results (e.g. [Uicker 1967]) to establish the { equations of dynamic equilibrium for a general spatial chain. { The equations of motion for multiloop, multi DOF spatial linkages { incorporating springs and damping devices at joints were also obtained. { The behavior for small oscillations about equilibrium were considered, { and the resulting linearized system was analyzed for stability. Usoro, P.B.; Nadira, R.S.; and S.S. Mahil; 1984 R::CONTROL ELASTIC STABILITY 2ScientificSystems,Cambr/Purdue,Hammond Control of lightweight flexible manipulators: a feasibility study ACC 1984, v.3:1209-1216 { Uses FE analysis combined to Lagr. dynamics to control 2-link { distributed-mass system. Simulation results. Vadali, S.R.; 1984 SPACECRAFT::CONTROL ELASTIC STABILITY IowaSt.U.-Aerosp.Engg Feedback control of flexible spacecraft large-angle maneuvers using Liapunov theory ACC 1984, v.3:1674-1678 Van Brussel, H.; and J. Simmons; 1979 R::COMPLIANCE ASSEMBLY CONTROL FORCE U.Leuven The adaptable compliance concept and its use for automatic assembly by active force feedback accommodations 9th ISIR, Washington DC, p.167-181 Van Brussel, H.; and L. Vastmans; 1986? R::CONTROL STATE-SPACE DYN ESTIMATION Katholieke U. Leuven A compensation method for the dynamic control of robots J. of Manufacturing Systems, v.4(1):85-96 Van Winssen, J.C.; and C.W. deSilva; 1985 R::CONTROL ADAPTIVE TRAJECTORY Robotics Institute-CMU Accurate Trajectory Control of Robotic Manipulators CMU-RI-TR-85-15, Department of Mechanical Engineering, The Robotics Institute, CMU, Pittsburgh, 1985 Vance, J.M.; and A. Sitchin; 1970 M::3D::DYN UF-ME Derivation of first-order difference equations for dynamical systems by direct application of Hamilton's Principle J. Applied Mechanics, v.37:276-278 Viscomi, B.V.; and Ayre, R.S.; 1971 M::2D::DYN ELASTIC LafayetteColl/U.Col-B-CE Nonlinear Dynamic Response of Elastic Slider-Crank Mechanisms J. Engg for Industry, v.93:636-644 Vukobratovic, M.; Hristic, D.; and D. Stokic; 1975? R::WALK DYN New method of motion synthesis and its application to artificial skeletal activity CISM-IFToMM, ?????, p.151-159 Vukobratovic, M.; Stokic, D.; and N. Kircanski; 1983 R::CONTROL ADAPTIVE M-P Belgrade Towards non-adaptive and adaptive control of industrial robots IEEE Trans. Automatic control, AC-29(9):841-844 { { (Almost repeated paper:Non-adaptive...) Vukobratovic, M.; Stokic, D.; and N. Kircanski; 1984?3 R::CONTROL ADAPTIVE M-P Non-adaptive and adaptive control of industrial robots 14th ISIR? paper 13-166 { (Almost repeated paper: Towards Non-adaptive...) Vukobratovic, M.; and D. Stokic; 1981 R::CONTROL M-P One engineering concept of dynamic control of manipulators J. Dyn. Systems, Meas. and Control, 6/1981, v.102:108-117 Vukobratovic, M.; and D. Stokic; 1983 R::CONTROL DYN M-P Is dynamic control needed in robotic systems, and, if do, to what extent? IJRR, v.2(2), Summer 1983:18-34 Vukobratovic, M.; and N. Kircanski; 1984 R::CONTROL OPTIM DYN Mihailo-Papin Inst., Beograd A dynamic approach to nominal trajectory synthesis for redundant manipulators IEEE Trans. v.SMC-14(4):580-586 Vukobratovic, M.; and N. Kircanski; 1984 R::DYN CONTROL OVERVIEW COMPUTATION M.Pupin, Beograd A method for computer-aided construction of analytical models of robotic manipulators IEEE Conference on Robotics, Atlanta, March 1984, p.248-255 { { After an excellent overview of the decadelong debate on computation times { for robot manipulator control algorithms, the authors propose to lower the { barriers once again (after approx. three years of silence from everybody). { { The crux of this new approach is to adapt the algorithm specifically to { the robot being modelled, when a few more multiplications can be shaved. { Apparently this has been known for some time, but herein a fully automated { procedure is laid out. { Each calculations is optimised to the bone and, as an example, the dynamic { model for the Stanford manipulator can be calculated in 384mults+152adds, { about 5s on a PDP11/70, 20% less than that of [LWP80]. { { A small gem: Why do manipulators have to be sampled approx. every 20ms? { [LWP80] Because their natural freqs = order(10Hz), so sampling should be { considerably faster. Vukobratovic, M.; and Potkonjak, V.; 1982 R::DYN CONTROL Mihailo-Papin Inst., Beograd Dynamics of Manipulation Robots (2 vols) Springer-Verlag, Berlin Vukobratovic, Miomir; 1983 R::SIMULATION CONTROL M-P Instt, Belgrad General software for computer-aided synthesis of control for manipulation robots Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.767-781 Vukobratovic, Miomir; and Dragan Stokic; 1982 R::CONTROL DYN M-Pupin A procedure for the interactive dynamic control synthesis of manipulators IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(4):521-528 { { The user monitors the computer's choice of control regime and tailors { it according to experience and needs. Example via simulation. Walker, M.W.; and D.E. Orin; 1982 R::DYN SIMULATION Nordson/OSU Efficient dynamic computer simulation of robotic mechanisms J. Dyn. Systems, Meas. and Control, ASME Trans. v.104(3):205-211 Walker, Michael W.; 1984 R::CARTESIAN DYN CONTROL Clemson Dynamic Cartesian Coordinate Control of a Manipulator ACC, v.2:866-871 Wang, Sherman S.; and Arun Sharma; 1984 R::DYN CONTROL ASSEMBLY CONTROL IBM TJW Res.Ctr Dynamic Control Models of a Robot for High Speed and High Precision Assembly with Tolerance Constraints ACC, v.2:872-877. (876 missing.) Whitney, D.E.; 1972 R::DYN CSDL The mathematics of coordinated control of prosthetic arms and manipulators J. Dyn. Systems, Meas. and Control, 94:303-309 Whitney, Daniel E.; 1977 R::DYN COMPLIANCE CSDL Force feedback of manipulator fine motions J. Dyn. Systems, Meas. and Control, 6/1977, p.91-97 Whitney, Daniel E.; and Eric F. Junkel; 1982 R::CONTROL STOCHASTIC CSDL Applying stochastic control theory to robot sensing, teaching, and long-term control ACC, 1982:1175-1183 Williams, R.J.; and A. Seireg; 1979 R::DYN SIMULATION PennSt/U.Wisc Interactive modeling and analysis of open or closed loop dynamic systems with redundant actuators J. Mechanical Design, v.101:407-416 Wilson, James F.; 1984 R::BIO::DYN KIN DESIGN Duke-Engg Robotic mechanics and animal morphology Robotics and Artificial Intelligence, ed. M. Brady et al, NATO ASI Series v.F11, Springer-Verlag Berlin Heidelberg 1984, pp.419-443 { A study of biological locomotion mechanisms- spiders and worms; analogies. Winfrey, R.C.; 1971 M::2D::DYN ELASTIC NavlPG.Schl,Monterey Elastic Link Mechanism Dynamics J. Engg. for Industry, 93:268-272 Winfrey, R.C.; 1972 M::2D::DYN ELASTIC Naval CivEng. Labs,CA Dynamic analysis of elastic link mechanisms by reduction of coordinates J. Engineering for Industry, ASME Trans. v.94:577-582 Winfrey, R.C.; Anderson, R.V.; and C.W. Gnilka; 1973 M::2D::DYN ELASTIC::BACKLASH Burroughs/USN-Boston/USN-Phila Analysis of elastic machinery with clearances J. Engineering for Industry, ASME Trans. v.95:695-703 Wittenburg, Jens; 1980 M::3D::SPACECRAFT::DYN Inst.Mekh,U.Karlsruhe Dynamics of multibody systems International Union of Theoretical and Applied Mechanics (IUTAM), 1980:197-207 { Unification survey of space mechanics and roboticists Woo, L.S.; and Freudenstein, F.; 1971 M::DYN SCREW IBM,NY/Columbia Dynamic Analysis of Mechanisms using Screw Coordinates J. Engg for Industry, v.93:273-280 Wu, Chi-Haur; and Richard P. Paul; 1982 R::CONTROL FORCE Purdue-EE Resolved motion force control of robot manipulator IEEE Trans. Systems, Man and Cybernetics, v.SMC-12(3):266-275 Yang, A.T.; 1965 SCREW::M::3D::DYN UCDavis Static Force and Torque Analysis of Spherical Four-bar Mechanisms J. Engg. for Industry, 87:221-227 Yang, A.T.; 1971 SCREW::M::3D::DYN UCDavis Inertia Force Analysis of Spatial Mechanisms J. Engg for Industry, v.93:27-33 Yang, A.T.; and Sun Zhishang; 1983 SCREW::M::3D::DYN UCDavis Dynamic force and torque analysis of spherical four-bar mechanisms J. Mech., Transmissions and Automn. in Design. v.105:492-497 Yaroshenko, A.A.; 1981 TELEOPERATOR::CONTROL USSR Test data obtained from the use of a skin analyzer in bioengineering control systems Tekh. Kibernetika, (Transl. Engg. Cybernetics), v.19(2):66-71 Yoshikawa, Tsuneo; 1983 R::KIN REDUNDANT::CONTROL AutomnResLab,KyotoU. Analysis and control of robot manipulators with redundancy Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.735-747 Yoshimoto, Kenichi; and Kunihoko Wakatsuki; 1983 R::CONTROL::TRAJECTORY SIMULATION U.Tokyo-ME Application of the preview tracking control algorithm to servoing a robot manipulator Robotics Research, ed. Brady and Paul, MIT Press, 1984. (Proceedings of the First International Symposium on Robotics Research, Bretton Woods August, 1983.), p.883-897 Young, K. David; 1984 R::CONTROL SLIDING Systems Control Tech, Palo Alto Robot arm control design, a high gain feedback perspective ACC 1984, v.3:1243-1245 { { A unified view of industrially used SISO control vs. Mult. control { input schemes e.g. sliding mode. *** last page(s) missing. Young, Kar-Keung D.; 1978 R::CONTROL SLIDING Controller design for a manipulator using theory of variable structure systems IEEE Trans. Systems, Man and Cybernetics, v.SMC-8(2):101-109. Reprinted in Robot Motion, ed. M. Brady et al, MIT Press, 1982, Chapter 3 Zalucky, A.; and D.E. Hardt; 1984 M::3D::CONTROL ELASTIC MIT-Lab.fr.Manfg.Prod. Active control of robot structure deflections J. Dyn. Systems, Meas. and Control, 3/1983, v.106:63-69 Zhang, C.; and Grandin, H.T.; 1983 M::2D::DYN ELASTIC OPTIM WorcesterPolyt. Optimum Design of Flexible Mechanisms J. Mechanisms, Transmissions and Automation in Design, 105:267-272