Control of a high precision macro-micro robotic manipulator system

被引：0
|
作者：
Cho, W
机构：
[1] Dept. of Control and Instrumentation, Institute of New Technology, Kwangwoon University, Seoul
来源：
KSME INTERNATIONAL JOURNAL | 1997年 / 11卷 / 01期
关键词：
MAMI robotic system; feedback linearization;
D O I：
10.1007/BF02945224
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joints associated with micro-robot.
引用
收藏
页码：29 / 44
页数：16
相关论文
共 50 条
  • [1] Control of a high precision macro-micro robotic manipulator system
    Whang Cho
    [J]. KSME International Journal, 1997, 11 : 29 - 44
  • [2] Motion prediction and supervisory control of the macro-micro parallel manipulator system
    Duan, Xuechao
    Qiu, Yuanying
    Mi, Jianwei
    Zhao, Ze
    [J]. ROBOTICA, 2011, 29 : 1005 - 1015
  • [3] An Intelligent Motion Control System for a Macro-Micro Manipulator Using Fuzzy Adaptive System
    Sukanya, M.
    Ragunathan, S.
    [J]. PROCEEDINGS OF THE 2013 INTERNATIONAL CONFERENCE ON ADVANCED COMPUTING & COMMUNICATION SYSTEMS (ICACCS), 2013,
  • [4] Neural network based tracking control of a flexible macro-micro manipulator system
    Cheng, XP
    Patel, RV
    [J]. NEURAL NETWORKS, 2003, 16 (02) : 271 - 286
  • [5] Dynamic Compensation Control of Flexible Macro-Micro Manipulator Systems
    Yang, Tang Wen
    Xu, Wei Liang
    Han, Jian Da
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (01) : 143 - 151
  • [6] Inverse kinematics model of parallel macro-micro manipulator system
    WANG Wenli
    Beijing Astronomy Observatory
    [J]. Science Bulletin, 2000, (24) : 2221 - 2226
  • [7] Inverse kinematics model of parallel macro-micro manipulator system
    Wang, WL
    Duan, BY
    Liu, H
    Nan, RD
    Peng, B
    [J]. CHINESE SCIENCE BULLETIN, 2000, 45 (24): : 2221 - 2226
  • [8] Macro-micro manipulator system controlling feedback source for FAST
    [J]. 2000, Chinese Acad Sci Shenyang, China (22):
  • [9] Optimal Switching Time Control for Suppressing Residual Vibration in a High-Speed Macro-Micro Manipulator System
    Chen, Tehuan
    Lou, Junqiang
    Ren, Zhigang
    Wei, Yanding
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2022, 30 (01) : 360 - 367
  • [10] Trajectory control of a flexible space manipulator utilizing a macro-micro architecture
    Yang, TW
    Sun, ZQ
    Tso, SK
    Xu, WL
    [J]. 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2003, : 2522 - 2528
12345