MODELLING, OPTIMIZATION AND SIMULATION:
PROBLEMS AND APPLICATIONS

Control of Robots

[1] J.J. Craig, Introduction to Robotics: Mechanics and Control, 2nd ed., Addison-Wesley, 1989.

[2] J.J Craig and M. Raibert, A systematic method for hybrid position/force control of manipulators, "ASME Journal of Dynamic Systems, Measurement and Control", 1981.

[3] G. Franklin and J.D. Powel, Digital Control of Dynamic Systems, Addison-Wesley, 1980.

[4] G. Franklin, J.D. Powell, and A. Emami-Naeini, Feedback Control of Dynamic Systems, Addison-Wesley, 1986.

[5] J. Luh, Conventional controller design for industrial robots – a tutorial, in "IEEE Trans. on Systems, Man and Cybernetics", SMC-3/3, 1983.

[6] E. Freund, Fast nonlinear control with arbitrary pole placement for industrial robots and manipulators, "The International Journal of Robotics Research", 1/1, 1982, pp. 65-78.

[7] K. Fu, R. Gonzales, and C.S.G. Lee, Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, New York, 1987.

[8] J. Garcia de Jalon and E. Bayo, Kinematic and Dynamic Simulation of Multi-body Systems – The real time challenge, Springer-Verlag, Berlin, 1994.

[9] T.K.V. Gopal, Modelling and simulation of a 5-degree-of-freedom robot, ME Thesis, Dept. Of Mechanical Engg., IISc Bangalore, 1995.

[10] E.J. Haug, Computer-Aided Kinematics and Dynamics of Mechanical Systems, Allyn and Bacon, 1989.

[11] J.M. Hollerbach, A recursive Lagrangian formulation of manipulator dynamics and a comparative study of dynamics formulation complexity, in "Robot Motion", M. Brady et al. (eds.), MIT Press, 1983.

[12] O. Khatib, A unified approach for motion and force control of robot manipulators: The operational space approach, "IEEE Journal of Robotics and Automation", 3/1, 1987.

[13] O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, "International Journal of Robotics Research", 5/1, 1984.

[14] P. K. Khosla, Some experimental results on model-based schemes, in "Proceedings of IEEE Conference on Robotics and Automation", 1988.

[15] T. Lozano-Perez, A simple motion planning algorithm for general robot manipulators, "IEEE Journal of Robotics and Automation" 3/3, 1987.

[16] M. Mason, Compliance and force control for computer controlled manipulators, in "IEEE Trans. on Systems, Man and Cybernetics", SMC-11/6, 1981, pp. 418-432.

[17] J.K. Salisbury, Active stiffness control of a manipulator in Cartesian coordinates, in "19th IEEE Conference on Decision and Control", 1980.

[18] W. Silver, On the equivalence of Lagrangian and Newton-Euler Dymanics for manipulators, "International Journal of Robotics Research", 1/2, pp. 60-70.