Spline-based guidance with enhanced frequency robustness for the motion of flexible part handling manipulators

Antoniadis, I; Kanarachos, A

dc.contributor.author	Antoniadis, I	en
dc.contributor.author	Kanarachos, A	en
dc.date.accessioned	2014-03-01T01:12:17Z
dc.date.available	2014-03-01T01:12:17Z
dc.date.issued	1996	en
dc.identifier.issn	0957-4158	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12051
dc.subject	Closed Loop Control	en
dc.subject	Control Method	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Control nonlinearities	en
dc.subject.other	Cost effectiveness	en
dc.subject.other	Industrial robots	en
dc.subject.other	Motion control	en
dc.subject.other	Parameter estimation	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Spline based method	en
dc.subject.other	Manipulators	en
dc.title	Spline-based guidance with enhanced frequency robustness for the motion of flexible part handling manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0957-4158(96)00026-8	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0957-4158(96)00026-8	en
heal.language	English	en
heal.publicationDate	1996	en
heal.abstract	A new spline-based method is introduced for guiding the motion of flexible part handling manipulators. Compared to closed-loop-based control methods, it enables simplicity in the design of the manipulator and thus reduced cost and complexity. The method can be easily implemented even on existing manipulators, requiring minimal computational cost and knowledge of the dynamic parameters of the manipulator, and it is quite versatile, leading to guidance functions properly adapted to the specific manipulator requirements. However, the basic advantage of the method is the extensive robustness characteristics it offers at large payload variations and/or uncertainties of possible non-linearities of the manipulator, overcoming to a significant degree this traditional disadvantage of guidance-based methods over the methods based on closed-loop control. Copyright (C) 1996 Elsevier Science Ltd.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Mechatronics	en
dc.identifier.doi	10.1016/0957-4158(96)00026-8	en
dc.identifier.isi	ISI:A1996VP08300002	en
dc.identifier.volume	6	en
dc.identifier.issue	7	en
dc.identifier.spage	761	en
dc.identifier.epage	777	en