By Topic

Dynamic trajectory tracking control of flexible manipulator macro-micro manipulator system

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yoshikawa, T. ; Dept. of Mech. Eng., Kyoto Univ., Japan ; Hosoda, K. ; Doi, T. ; Murakami, H.

A macro-micro manipulator system has been proposed with the purpose of overcoming the difficulty to realize a trajectory tracking control of a flexible manipulator. In this paper, a trajectory tracking controller of macro-micro manipulator system is proposed which takes the dynamics of the system into consideration. This control law consists of a simple PD feedback law for the macro flexible manipulator and a dynamic trajectory tracking control law for the micro rigid manipulator. Experimental results show the effectiveness of the proposed scheme

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994