scholarly journals Erratum: “Discrete-Time Inverse Dynamics Control of Flexible Joint Robots” (Journal of Dynamic Systems, Measurement, and Control, 1992, 114, pp. 229–233)

1992 ◽  
Vol 114 (4) ◽  
pp. 613-613
Author(s):  
K. P. Jankowski ◽  
H. Van Brussel
Keyword(s):  
Discrete Time ◽  
Dynamic Systems ◽  
Inverse Dynamics ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Inverse Dynamics Control ◽  
And Control ◽  
Measurement And Control

Discrete-Time Inverse Dynamics Control of Flexible Joint Robots

1992 ◽  
Vol 114 (2) ◽  
pp. 229-233 ◽  
Author(s):  
K. P. Jankowski ◽  
H. Van Brussel
Keyword(s):  
Discrete Time ◽  
Control Algorithm ◽  
Inverse Dynamics ◽  
Differential Algebraic Equations ◽  
Control Methods ◽  
Algebraic Equations ◽  
Computationally Efficient ◽  
Electromechanical Actuators ◽  
Flexible Joint Robots ◽  
Inverse Dynamics Control

This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm.

Inverse dynamics task control of flexible joint robots—II

1993 ◽  
Vol 28 (6) ◽  
pp. 751-762 ◽  
Author(s):  
Krzysztof P Jankowski ◽  
Hendrik Van Brussel
Keyword(s):  
Inverse Dynamics ◽  
Flexible Joint ◽  
Task Control ◽  
Flexible Joint Robots

Lateral and Longitudinal Dynamic Behavior and Control of Moving Webs

1993 ◽  
Vol 115 (2B) ◽  
pp. 309-317 ◽  
Author(s):  
G. E. Young ◽  
K. N. Reid
Keyword(s):  
Dynamic Analysis ◽  
Dynamic Behavior ◽  
Dynamic Systems ◽  
Pivotal Role ◽  
Historical Perspectives ◽  
Longitudinal Dynamic ◽  
Primary Direction ◽  
And Control ◽  
Measurement And Control

A web refers to any material in continuous flexible strip form which is either endless or very long compared to its width, and very wide compared to its thickness. This paper discusses the dynamic analysis and control of the lateral and longitudinal motions of a moving web which correspond to fluctuations perpendicular and parallel, respectively, to the primary direction of web transport. Historical perspectives are provided, from the early work of Osborne Reynolds in the late 1800s to current research. An overview of the control of both lateral and longitudinal web motion, which includes the control of tension, is presented. Present limitations in understanding and controlling lateral and longitudinal web behavior are discussed. The Journal of Dynamic Systems, Measurement, and Control has played a pivotal role in the advancement of research in this area.

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