Robot Dynamics and Control

Authors:
Mark W. Spong
Affiliations:
-
Venue:
Robot Dynamics and Control
Year:
1989

Citing 0
Cited 205

Motion from Three Weak Perspective Images Using Image Rotation

IEEE Transactions on Pattern Analysis and Machine Intelligence
Solving algebraic systems using matrix computations

ACM SIGSAM Bulletin
Fundamentals of online robots

Beyond webcams
Modelling of Complete Robot Dynamics Based on a Multi-Dimensional, RBF-like Neural Architecture

Applied Intelligence
Robot Dynamic Modeling Using a Power Flow Approach with Application to Biped Locomotion

Autonomous Robots
Integrated PID-type Learning and Fuzzy Control for Flexible-joint Manipulators

Journal of Intelligent and Robotic Systems
Intelligent Control for an Acrobot

Journal of Intelligent and Robotic Systems
Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping

Journal of Intelligent and Robotic Systems
Dynamics and Control of Elastic Joint Manipulators

Journal of Intelligent and Robotic Systems
Passive Compliance from Robot Limbs and its Usefulness in Robotic Automation

Journal of Intelligent and Robotic Systems
Adaptive Task-Space Control of Flexible-Joint Manipulators

Journal of Intelligent and Robotic Systems
Adaptive Control of a Single Link Manipulator Including Motor and Input Unmodelled Dynamics

Journal of Intelligent and Robotic Systems
Synthesis of Neural Networks and PID Control for Performance Improvement of Industrial Robots

Journal of Intelligent and Robotic Systems
Contact Friction Compensation for Robots Using Genetic Learning Algorithms

Journal of Intelligent and Robotic Systems
Variable Structure Control of Robot Manipulators with Perturbation Estimator

Journal of Intelligent and Robotic Systems
Robust Interaction Control of a Mobile Manipulator – Dynamic Model Based Coordination

Journal of Intelligent and Robotic Systems
On the Robust Nonlinear Motion Position and Force Control of Flexible Joints Robot Manipulators

Journal of Intelligent and Robotic Systems
The Formula One Tire Changing Robot (F1-T.C.R.)

Journal of Intelligent and Robotic Systems
Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots

Journal of Intelligent and Robotic Systems
Robotic Optimization and Testing for the Formula One Tire-Changing Robot

Journal of Intelligent and Robotic Systems
A PC-Based Simulator/Controller/Monitor Software for a Generic 6-DOF Manipulator

Journal of Intelligent and Robotic Systems
Experimental Estimation of Model Error Bounds Based on Modified Stochastic Approximation

Journal of Intelligent and Robotic Systems
Robotic Tasks Using Path Control: Two Case Studies

Journal of Intelligent and Robotic Systems
Estimation and regulation of the rate of convergence of a rigid robot to a set-point with applications to spacecraft attitude control

Nonlinear Analysis: Real World Applications
Singularity Analysis for Articulated Object Tracking

CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Obstacle avoidance for manipulators

Systems Analysis Modelling Simulation
Design-simulation-optimization package for a generic 6-DOF manipulator with a spherical wrist

Systems Analysis Modelling Simulation
Obstacle avoidance for manipulators

Systems Analysis Modelling Simulation
Variable Upper Bounding Approach for Adaptive-Robust Control in Robot Control

Journal of Intelligent and Robotic Systems
Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators

Robotica
Control of an operator-assisted mobile robotic system

Robotica
Neuroadaptive control of elastic-joint robots using robust performance enhancement

Robotica
An application of real-time control systems to robotics

Robotica
PD control with feedforward compensation for robot manipulators: analysis and experimentation

Robotica
Local SVD inverse of robot Jacobians

Robotica
Design of a neural internal model control system for a robot

Robotica
Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators

Robotica
Contribution to the Adaptive Control of Multiple Compliant Manipulation of Dynamic Environments

Robotica
Fast constrained global minimax optimization of robot parameters

Robotica
Computer simulation of robot dynamics

Robotica
Robust Combined Adaptive and Variable Structure Adaptive Control of Robot Manipulators

Robotica
Multiple-goal priority considerations of redundant manipulators

Robotica
Variable structure control applied to underactuated robots

Robotica
An overview of robot force control

Robotica
Experimental Evaluation of Identification Schemes on a Direct Drive Robot

Robotica
A methodology for fault diagnosis in robotic systems using neural networks

Robotica
Adaptive Impedance Control of Robot Manipulators based on Function Approximation Technique

Robotica
Base invariance of the manipulability index

Robotica
Practical robot calibration with ROSY

Robotica
Algorithms of trajectory planning with constrained deviation from a given end-effector path

Robotica
Design of an adaptive control law using trigonometric functions for robot manipulators

Robotica
Hopfield Neural Networks for Parametric Identification of Dynamical Systems

Neural Processing Letters
Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics

Robotica
Learning control of robot manipulators by interactive simulation

Robotica
Multi-loop model-based control structure for robot manipulators

Robotica
Asymptotically Stable Running for a Five-Link, Four-Actuator, Planar Bipedal Robot

International Journal of Robotics Research
Dynamic model and performances of 2-DOF manipulators

Robotica
Energy Based Indexes for Manipulator Dynamics Improvement

Journal of Intelligent and Robotic Systems
Modeling and control of a new robotic deburring system

Robotica
Joint angle variations analyses of the two link planar manipulator in welding by using inverse kinematics

Robotica
Simple two degree of freedom structures and their properties

Robotica
Observer-based control of a walking biped robot without orientation measurement

Robotica
PD Control of robot with velocity estimation and uncertainties compensation

International Journal of Robotics and Automation
PD-type controller in terms of generalized velocity components

International Journal of Robotics and Automation
Hybrid model-based force/position control: theory and experimental verification

Robotica
Controlling a bipedal walking robot actuated by pleated pneumatic artificial muscles

Robotica
Optimal two-degree-of-freedom fuzzy control for locomotion control of a hydraulically actuated hexapod robot

Information Sciences: an International Journal
Bandwidth of mechanical systems and design of emulators with RBF

Neurocomputing
Adaptive path-constrained control of a robotic manipulator in a task space

Robotica
Robust Sliding Control of Robotic Manipulators Based on a Heuristic Modification of the Sliding Gain

Journal of Intelligent and Robotic Systems
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots

International Journal of Robotics Research
Setpoint regulation of continuum robots using a fixed camera

Robotica
FPGA implementation of a systems identification module based upon Hopfield networks

Neurocomputing
Technical communique: Further results on adaptive iterative learning control of robot manipulators

Automatica (Journal of IFAC)
Development of a new buffing robot manipulator for shoes

Robotica
Coordination control of an active pneumatic deburring tool

Robotics and Computer-Integrated Manufacturing
Nonlinear PD control of underwater robot in 3D motion

ICS'05 Proceedings of the 9th WSEAS International Conference on Systems
Optimal position control strategy in manipulators robot using shooting method

ICS'05 Proceedings of the 9th WSEAS International Conference on Systems
Nonlinear adaptive control of underwater robot in horizontal motion

ISTASC'06 Proceedings of the 6th WSEAS International Conference on Systems Theory & Scientific Computation
Brief paper: Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics

Automatica (Journal of IFAC)
Visual Motor Control of a 7 DOF Robot Manipulator Using Function Decomposition and Sub-Clustering in Configuration Space

Neural Processing Letters
Impedance control of a manipulator using a fuzzy model reference learning controller

ACMOS'08 Proceedings of the 10th WSEAS International Conference on Automatic Control, Modelling & Simulation
A novel path planning and control framework for passive resistance therapy with a robot manipulator

International Journal of Systems Science
Short Communication: Feedback linearization control of a two-link robot using a multi-crossover genetic algorithm

Expert Systems with Applications: An International Journal
Recursive modeling and control of multi-link manipulators with vacuum grippers

Mathematics and Computers in Simulation
Dynamic Analysis and Control of the MJR Robot Palletizer

ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Coriolis Moments in Manipulators: Demonstrative Experiment and Mathematical Analysis

ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part II
Robotic Agent Control Based on Adaptive Intelligent Algorithm in Ubiquitous Networks

KES-AMSTA '07 Proceedings of the 1st KES International Symposium on Agent and Multi-Agent Systems: Technologies and Applications
Asymmetric trajectory generation and impedance control for running of biped robots

Autonomous Robots
Analysis of the errors in the modelling of manipulators with Gaussian RBF neural networks

Neurocomputing
Comparison of different gaits with rotation of the feet for a planar biped

Robotics and Autonomous Systems
Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

Robotica
Stability analysis of the operational space control for industrial robots using their own joint velocity pi controllers

Robotica
Adaptive actuator failure compensation for redundant manipulators

Robotica
Dynamic Modelling and Stability Analysis of Model-Scale Helicopters Under Wind Gust

Journal of Intelligent and Robotic Systems
Scaling Inertia Properties of a Manipulator Payload for 0-g Emulation of Spacecraft

International Journal of Robotics Research
Hybrid Adaptive Vision-Force Control for Robot Manipulators Interacting with Unknown Surfaces

International Journal of Robotics Research
Tracking Control of Robot Manipulators via Orthogonal Polynomials Neural Network

ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
A method to learn the inverse kinematics of multi-link robots by evolving neuro-controllers

Neurocomputing
Brief paper: Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics

Automatica (Journal of IFAC)
Contributions to non-identifier based adaptive control in mechatronics

Robotics and Autonomous Systems
Adaptive control of 2-link pay-loaded manipulator

CONTROL'09 Proceedings of the 5th WSEAS international conference on Dynamical systems and control
A new factorization of the coriolis/centripetal matrix

Robotica
Robust speed control of DC servomotors for mobile robots

ISC '07 Proceedings of the 10th IASTED International Conference on Intelligent Systems and Control
Jacobian-based derivation of dynamics equations of elastic parallel manipulators

AsiaMS '07 Proceedings of the IASTED Asian Conference on Modelling and Simulation
Dynamic modelling of a serial manipulator on vector fields

AsiaMS '07 Proceedings of the IASTED Asian Conference on Modelling and Simulation
Adaptive output-feedback decentralized control of a class of second order nonlinear systems using recurrent fuzzy neural networks

Neurocomputing
An artificial neural network based dynamic controller for a robot in a multi-agent system

Neurocomputing
Fourier-neural-network-based learning control for a class of nonlinear systems with flexible components

IEEE Transactions on Neural Networks
Modeling and simulation of sensor orientation errors in garments

BodyNets '09 Proceedings of the Fourth International Conference on Body Area Networks
Design and evaluation of reconfigurable robotic systems for 2 1/2 axis based material deposition strategies

Integrated Computer-Aided Engineering
Compliant comanipulation control for medical robotics

HSI'09 Proceedings of the 2nd conference on Human System Interactions
Sliding mode control of uncertain multivariable nonlinear systems applied to uncalibrated robotics visual servoing

ACC'09 Proceedings of the 2009 conference on American Control Conference
H∞robust control of active suspensions: a practical point of view

ACC'09 Proceedings of the 2009 conference on American Control Conference
Nonlinear adaptive H∞control of constrained robotic manipulators with input nonlinearity

ACC'09 Proceedings of the 2009 conference on American Control Conference
Position-based visual servo control of leader-follower formation using image-based relative pose and relative velocity estimation

ACC'09 Proceedings of the 2009 conference on American Control Conference
Task space robot control using an inner PD loop

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Active mechanical compensation to obtain gravity-free robots: modeling, control, design and preliminary experimental results

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A computed torque controller for uncertain robotic manipulator systems: Fuzzy approach

Fuzzy Sets and Systems
Fault diagnosis of a class of nonlinear uncertain systems with Lipschitz nonlinearities using adaptive estimation

Automatica (Journal of IFAC)
Planar bipedal jumping gaits with stable landing

IEEE Transactions on Robotics
Nonlinear dual mode adaptive control of PAR2: a 2-dof planar parallel manipulator, with real-time experiments

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Smooth proximity computation for collision-free optimal control of multiple robotic manipulators

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Sparse online model learning for robot control with support vector regression

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stability of haptic obstacle avoidance and force interaction

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Impedance control of manipulators carrying a heavy payload

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Adaptive output feedback control for robot manipulators using Lyapunov-based switching

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Estimation-based disturbance rejection in control for limit cycle generation on inertia wheel inverted pendulum testbed

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Teleoperation with kinematically redundant robot manipulators with sub-task objectives*

Robotica
Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators

Robotica
Modeling and simulation for cinematic and dynamic regime of an industrial articulated robot

CSECS'09 Proceedings of the 8th WSEAS International Conference on Circuits, systems, electronics, control & signal processing
Robust control design for a planar parallel robot

International Journal of Robotics and Automation
Use of optimal quasi: velocity trajectories

International Journal of Robotics and Automation
An estimate of the domain of attraction for the PID regulator of manipulators

International Journal of Robotics and Automation
Tracking control for robot manipulators with kinematic and dynamic uncertainty

International Journal of Robotics and Automation
Image-based robust control of robot manipulators under Jacobian uncertainty

ICIC'07 Proceedings of the intelligent computing 3rd international conference on Advanced intelligent computing theories and applications
Virtual sphere algorithms for orthodrome-based collision-free & smooth robot motion

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Nonlinear attitude control of rigid body with bounded control input and velocity-free

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Planning and control of under-actuated mobile manipulators using differential flatness

Autonomous Robots
An exponential family of hyperbolic-type controllers

WSEAS Transactions on Circuits and Systems
Optimal design of manipulator parameter using evolutionary optimization techniques

Robotica
Improved Output Tracking of a Flexible-Joint Arm using Neural Networks

Neural Processing Letters
Hand posture estimation from 2D monocular image

3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
A haptic gearshift interface for cars

EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Visual motor control of a 7dof redundant manipulator using redundancy preserving learning network

Robotica
Brief paper: Range identification of features on an object using a single camera

Automatica (Journal of IFAC)
Nonlinear control of a robot manipulator with time-varying uncertainties

ICSR'10 Proceedings of the Second international conference on Social robotics
Autonomous Shape Control of a Deformable Object by Multiple Manipulators

Journal of Intelligent and Robotic Systems
A hybrid adaptive control approach for robust tracking of robotic manipulators: Theory and experiment

Robotica
Rapid prototyping of a manipulator mechanism using hardware in the loop (HIL) simulators and comparing the results

AEE'06 Proceedings of the 5th WSEAS international conference on Applications of electrical engineering
Reducing the error of manipulator Jacobian in the control system

CONTROL'06 Proceedings of the 2nd WSEAS international conference on Dynamical systems and control
Variable structure slip control for grasping objects

CONTROL'06 Proceedings of the 2nd WSEAS international conference on Dynamical systems and control
A compact and simple form of inertia tensor

CONTROL'06 Proceedings of the 2nd WSEAS international conference on Dynamical systems and control
Geometric approach to inverse kinematics for arm manipulator

ICS'10 Proceedings of the 14th WSEAS international conference on Systems: part of the 14th WSEAS CSCC multiconference - Volume II
Movement control of a mobile manipulator based on cost optimization

ICONIP'06 Proceedings of the 13th international conference on Neural information processing - Volume Part III
A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

Journal of Intelligent and Robotic Systems
Intelligent control system design for a class of nonlinear mechanical systems

AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Experimental comparison of model-based and model-free output feedback control system for robot manipulators

AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Cooperative control of modular space robots

Autonomous Robots
A method for modelling of parameter estimation laws depending on functions for adaptive control of robot manipulators

International Journal of Computer Applications in Technology
Real stiffness augmentation for haptic augmented reality

Presence: Teleoperators and Virtual Environments
Image-Based robust control of robot manipulators in the presence of uncertainty

KES'06 Proceedings of the 10th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part I
Image-Based robust control of robot manipulators with integral actions

ICCS'06 Proceedings of the 6th international conference on Computational Science - Volume Part I
Virtual reality and programming by demonstration: Teaching a robot to grasp a dynamic object by the generalization of human demonstrations

Presence: Teleoperators and Virtual Environments
Numerical integration of the differential riccati equation: a high performance computing approach

VECPAR'04 Proceedings of the 6th international conference on High Performance Computing for Computational Science
D-type iterative learning control without resetting condition for robot manipulators

Robotica
Adaptive impedance controller design for flexible-joint electrically-driven robots without computation of the regressor matrix

Robotica
An HILS and RCP based inter-working scheme for computational evaluation of manipulators and trajectory controller

KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part II
Stable task space neuro controller for robot manipulators without velocity measurements

MICAI'05 Proceedings of the 4th Mexican international conference on Advances in Artificial Intelligence
FPGA implementation of hopfield networks for systems identification

IWANN'05 Proceedings of the 8th international conference on Artificial Neural Networks: computational Intelligence and Bioinspired Systems
Visual Control of Planar Parallel Robots Without Using Velocity Measurements

Journal of Intelligent and Robotic Systems
Realtime control for motion creation of 3d avatars

PCM'05 Proceedings of the 6th Pacific-Rim conference on Advances in Multimedia Information Processing - Volume Part I
Decentralized model reference adaptive autopilot for underwater robot

ACMOS'09 Proceedings of the 11th WSEAS international conference on Automatic control, modelling and simulation
Experimental implementation and analysis of robotic metal spinning with enhanced trajectory tracking algorithms

Robotics and Computer-Integrated Manufacturing
Dynamics solution of n-DOF global machinery model

Robotics and Computer-Integrated Manufacturing
Brief Paper: Disturbance Attenuation and Trajectory Tracking via a Reduced-order Output Feedback Controller for Robot Manipulators

Automatica (Journal of IFAC)
Brief Robust neural control for robotic manipulators

Automatica (Journal of IFAC)
Book review

Automatica (Journal of IFAC)
Brief Swinging up a pendulum by energy control

Automatica (Journal of IFAC)
Manipulator motion control in operational space using joint velocity inner loops

Automatica (Journal of IFAC)
Identification of a moving object's velocity with a fixed camera

Automatica (Journal of IFAC)
Robust nonlinear task space control for 6 DOF parallel manipulator

Automatica (Journal of IFAC)
Modelling of the planar motion of a rolling four links robot

Mathematical and Computer Modelling: An International Journal
Modelling and control of a walking four link robot

Mathematical and Computer Modelling: An International Journal
Modelling and control of a Puma-like manipulator

Mathematical and Computer Modelling: An International Journal
The Waveform Relaxation method for systems of differential/algebraic equations

Mathematical and Computer Modelling: An International Journal
A modified resolved acceleration controller for position-based visual servoing

Mathematical and Computer Modelling: An International Journal
Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

Mathematical and Computer Modelling: An International Journal
Modelling the motion of an antenna based on a plane with a time-dependent inclination

Mathematical and Computer Modelling: An International Journal
The unified orthogonal architecture of industrial serial manipulators

Robotics and Computer-Integrated Manufacturing
On trajectory tracking control for nonholonomic mobile manipulators with dynamic uncertainties and external torque disturbances

Robotics and Autonomous Systems
Realistic dynamic posture prediction of humanoid robot: manual lifting task simulation

ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Passivity based synchronization for networked robotic systems with uncertain kinematics and dynamics

Automatica (Journal of IFAC)
Swing-up control of a triple pendulum on a cart with experimental validation

Automatica (Journal of IFAC)
Dynamic trapping and manipulation of biological cells with optical tweezers

Automatica (Journal of IFAC)
SMART-HexBot: a Simulation, Modeling, Analysis and Research Tool for Hexapod Robot in Virtual Reality and Simulink

Proceedings of Conference on Advances In Robotics
Visual tracking control for an uncalibrated robot system with unknown camera parameters

Robotics and Computer-Integrated Manufacturing
Inverse-free control of a robotic manipulator in a task space

Robotics and Autonomous Systems
A novel robust adaptive control algorithm with finite-time online parameter estimation of a humanoid robot arm

Robotics and Autonomous Systems
Control of a biped robot by total rate of angular momentum using the task function approach

Applied Bionics and Biomechanics
Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

Robotics and Autonomous Systems
A collision-free path-planning method for an articulated mobile robot

Applied Bionics and Biomechanics
A low-cost anthropometric walking robot for reproducing gait lab data

Applied Bionics and Biomechanics
Workspace tracking control of two-flexible-link manipulator using distributed control strategy

Journal of Control Science and Engineering

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Abstract

From the Publisher:This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.