1980 Publications

Alexander:87

Harold L. Alexander.
Experiments in Control of Satellite Manipulators.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, December 1987.

AlexanderC:86

Harold L. Alexander and Robert H. Cannon, Jr.
Experiments on the control of a satellite manipulator.
In Proceedings of the American Control Conference, Minneapolis, MN, June 1986.

AlexanderC:86a

Harold L. Alexander and Robert H. Cannon, Jr.
Experiments on the control of a satellite manipulator.
In Proceedings of the Material Handling Research Focus, Georgia Institute of Technology, September 1986.

NASAfinal:85

Robert H. Cannon, Jr. and Harold Alexander.
NASA Final Report on Space Robot Simulator Vehicle.
Final, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, May 1985.

NASAsemiannual:85

Robert H. Cannon, Jr. and Harold Alexander.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, July 1985.

NASAsemiannual:86

Robert H. Cannon, Jr. and Harold Alexander.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 2, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1986.

NASAsemiannual:86a

Robert H. Cannon, Jr., Harold Alexander, Marc Ullman, and Ross Koningstein.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 3, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1986.

NASAsemiannual:87

Robert H. Cannon, Jr., Harold Alexander, Marc Ullman, and Ross Koningstein.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 4, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1987.

AFOSRfinal:89

Robert H. Cannon, Jr. and Thomas O. Binford.
AFOSR Final Report of the Center For Automation and Manufacturing Science on Basic Research in Robotics.
Final report, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1989.

AFOSRannual:86

Robert H. Cannon, Jr., Michael Hollars, Chris Uhlik, Dennis Morse, Celia Oakley, Daniel Rovner, and Vincent Chen.
AFOSR Annual Report 1986.
Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1986.

AFOSRannual:87

Robert H. Cannon, Jr., Michael Hollars, Chris Uhlik, Dennis Morse, Celia Oakley, Daniel Rovner, and Vincent Chen.
AFOSR Annual Report 1987.
Annual Report 2, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1987.

DARPAannual:87

Robert H. Cannon, Jr., Lawrence Pfeffer, Brian Andersen, and Raymond Kraft.
DARPA Annual Report 1987.
Annual Report 1, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, October 1987.

CannonR:84

Robert H. Cannon, Jr. and Dan E. Rosenthal.
Experiments in Control of Flexible Structures with Noncollocated Sensors and Actuators.
AIAA Journal of Guidance and Control, 7(5):546--553, September--October 1984.

CannonS:84

Robert H. Cannon, Jr. and Eric Schmitz.
Initial Experiments on the End-Point Control of a Flexible One-Link Robot.
The International Journal of Robotics Research, 3(3):62--75, Fall 1984.

NASAsemiannual:87a

Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, and Roberto Zanutta.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 5, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1987.

NASAsemiannual:88

Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, and Roberto Zanutta.
NASA Sixth Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 6, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1988.

NASAsemiannual:88a

Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, Roberto Zanutta, and William Dickson.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 7, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, August 1988.

NASAsemiannual:89

Robert H. Cannon, Jr., Marc Ullman, Ross Koningstein, Stan Schneider, Warren Jasper, Roberto Zanutta, and William Dickson.
NASA Semi-Annual Report on Control of Free-Flying Space Robot Manipulator Systems.
Semi-Annual Report 8, Stanford University Aerospace Robotics Laboratory, Stanford, CA 94305, February 1989.

Chiang:86

Wen-Wei Chiang.
Rapid Precise End Point Control of a Wrist Carried by a Flexible Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, March 1986.
Also published as SUDAAR 550.

ChiangC:85

Wen-Wei Chiang and Robert H. Cannon, Jr.
The experimental results of a self tuning adaptive controller using online frequency identification.
The Journal of Astronautical Sciences, 33(1):71--83, January--March 1985.

HirataV:87

H. Hirata and R. Vasquez.
Optimal multirate sampling policy experiments on a two disk system.
Stanford University, AA 290 Directed Study Report, September 1987.

Hirata:89

Hidetoshi Hirata.
Sample rate effects on disturbance rejection for digital control systems.
PhD thesis, Stanford University, Stanford, CA, 1989.
Also published as SUDAAR 587.

Hollars:88

Michael G. Hollars.
Experiments in End-Point Control of Manipulators with Elastic Drives.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 1988.
Also published as SUDAAR 568.

HollarsC:85

Michael G. Hollars and Robert H. Cannon, Jr.
Initial experiments on the end-point control of a two-link manipulator with flexible tendons.
In Proceedings of the ASME Winter Annual Meeting, Miami Beach, FL, November 1985.

HollarsC:86

Michael G. Hollars and Robert H. Cannon, Jr.
Experiments on the end-point control of a two-link robot with elastic drives.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, pages 19--27, Williamsburg, VA, August 1986.
Paper No. 86--1977.

HollarsC:89

Michael G. Hollars and Robert H. Cannon, Jr.
Experimental implementation of a nonlinear estimator in the control of flexible joint manipulators.
In Proceedings of the IFAC Aerospace Conference, Tsukuba, Japan, July 1989.

HollarsC:87

Michael G. Hollars, Robert H. Cannon, Jr., Harold L. Alexander, and Dennis F. Morse.
Experiments in advanced control concepts for space robotics: An overview of the Stanford Aerospace Robotics Laboratory.
In Robert D. Culp and Terry J. Kelly, editors, Proceedings of the Annual Rocky Mountain Guidance and Control Conference, pages 417--434, Keystone, CO, February 1987. American Astronautical Society.
Paper No. 87--044.

Jasper:86

Warren J. Jasper.
Real-time data acquisition on the pdp 11/83.
ARL Memo 13, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, October 1986.

KoningsteinU:89

Ross Koningstein, Marc Ullman, and Robert H. Cannon, Jr.
Computed torque control of a free-flying cooperating-arm robot.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989.

Kraft:89

Raymond H. Kraft.
Experiments in End-Point Control of a Flexible Robot with a Mini-Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, May 1989.
Also published as SUDAAR 581.

LyB:85

U. L. Ly, A. E. Bryson, and R. H. Cannon, Jr.
Design of low-order compensators using parameter optimization.
Automatica, 21(3):315--318, 1985.
Also SUDAAR 536, Stanford University, Nov., 1982, and 4th IFAC Workshop on Control Applications of Nonlinear Programming and Optimization, June, 1983, San Francisco.

Ly:82

Uy-Loi Ly.
A Design Algorithm for Robust Low-Order Controllers.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, November 1982.
Also published as SUDAAR 536. The program SANDY is available from the Office of Technology Licensing, 105 Encina Hall, Stanford University, Stanford, CA 94305.

Maples:85

James A. Maples.
Force Control of Robotic Manipulators with Structural Flexibility.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, June 1985.
Also published as SUDAAR 549.

MaplesB:86

James A. Maples and Joseph J. Becker.
Experiments in force control of robotic manipulators.
In Proceedings of the International Conference on Robotics and Automation, pages 695--702, San Francisco, CA, April 1986. IEEE, IEEE Computer Society.

Morse:87

Dennis F. Morse.
Control of the vertical axis of the two-link manipulator.
ARL Memo 30, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, July 1987.

OakleyC:88

C. M. Oakley and R. H. Cannon, Jr.
Initial Experiments on the Control of a Two-Link Manipulator with a Very Flexible Forearm.
In Proceedings of the American Control Conference, Atlanta, GA, June 1988.

OakleyC:89

C. M. Oakley and R. H. Cannon, Jr.
End-Point Control of a Two-Link Manipulator with a Very Flexible Forearm: Issues and Experiments.
In Proceedings of the American Control Conference, Pittsburgh, PA, June 1989.

OakleyC:89b

C. M. Oakley and R. H. Cannon, Jr.
Equations of Motion for an Experimental Planar Two-Link Flexible Manipulator.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.

OakleyC:89a

C. M. Oakley and R. H. Cannon, Jr.
Theory and Experiments in Selecting Mode Shapes for Two-Link Flexible Manipulators.
In Proceedings of the First International Symposium on Experimental Robotics, Montr\'{e}al, Canada, June 1989.

PfefferK:86

Lawrence Pfeffer, Oussama Khatib, and John Hake.
Joint torque sensory feedback in the control of a PUMA manipulator.
In Proceedings of the American Control Conference, pages 818--824, Seattle, WA, June 1986.

PfefferKH:89

Lawrence E. Pfeffer, Oussama Khatib, and John Hake.
Joint torque sensory feedback in the control of a PUMA manipulator.
IEEE Transactions on Robotics and Automation, 5(4):418--425, August 1989.

Rosenthal:84

Dan E. Rosenthal.
Experiments in Control of Flexible Structures with Uncertain Parameters.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, March 1984.
Also published as SUDAAR 542.

Rosenthal:88

Dan E. Rosenthal.
Order N Formulation for Equations of Motion of Multibody Systems.
In G. Man and R. Laskin, editors, Proceedings of the Workshop on Multibody Simulation, pages 1122--1150, Pasadena, CA, April 1988. NASA Jet Propulsion Laboratory.
JPL D-5190, Volume III.

RosenthalS:83

Dan E. Rosenthal and Mike A. Sherman.
Symbolic multibody equations via kane's method.
In Proceedings of the AAS/AIAA Astrodynamics Specialist Conference, Lake Placid, NY, August 1983.
Paper No. 83--303.

RovnerC:87

Daniel M. Rovner and Robert H. Cannon, Jr.
Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator.
International Journal of Robotics Research, 6(4):3--19, Winter 1987.

RovnerF:87

Daniel M. Rovner and Gene F. Franklin.
Experiments in Load-Adaptive Control of a Very Flexible One-Link Manipulator.
Automatica, 24(4):541--8, July 1988.

Rovner:87

Daniel Mark Rovner.
Experiments in Adaptive Control of a Very Flexible One-Link Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, August 1987.

Schmitz:85

Eric Schmitz.
Experiments on the End-Point Position Control of a Very Flexible One-Link Manipulator.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, June 1985.
Also published as SUDAAR 548.

Schneider:89

S. Schneider.
Experiments in the Dynamic and Strategic Control of Cooperating Manipulators.
PhD thesis, Stanford University, Stanford, CA 94305, September 1989.
Also published as SUDAAR 586.

SchneiderC:89d

S. Schneider and R. H. Cannon.
A Real-time Sub-pixel Vision System for Motion Feedback.
Paper in progress.

SchneiderC:89c

S. Schneider and R. H. Cannon.
Experimental Object-Level Strategic Control with Cooperating Manipulators.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.

SchneiderC:89a

S. Schneider and R. H. Cannon.
Experiments in Cooperative Manipulation: A System Perspective.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989. NASA.

SchneiderC:89b

S. Schneider and R. H. Cannon.
Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results.
In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1076--1083, Scottsdale, AZ, April 1989.
Accepted for publication in IEEE Transactions of Robotics and Automation.

Sidman:86

Michael D. Sidman.
Adaptive Control of a Flexible Structure.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, June 1986.
Also published as SUDAAR 556.

SidmanF:86

Michael D. Sidman and Gene F. Franklin.
Adaptive Control of a Flexible Structure.
In Proceedings of the Second IFAC Workshop on Adaptive Control and Signal Processing, pages 131--136, Lund, Sweden, July 1986. International Federation of Automatic Control.

TilleyF:89

S. W. Tilley, C. M. Francis, K. Emerick, and M. G. Hollars.
Preliminary results on noncolocated torque control of space robot actuators.
In Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, February 1989. NASA.

TilleyH:89

S. W. Tilley, M. G. Hollars, and K. S. Emerick.
Experimental control results in a compact space robot actuator.
In Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December 1989.

TilleyC:86

Scott W. Tilley and Robert H. Cannon, Jr.
End Point Position and Force Control of a Flexible Manipulator with a Quick Wrist.
In Proceedings of the AIAA Guidance, Navigation and Control Conference, pages 41--49, Williamsburg, VA, August 1986.

TilleyC:86a

Scott W. Tilley, Robert H. Cannon, Jr., and Raymond Kraft.
End-point force control of a very flexible manipulator with a fast end effector.
In Proceedings of the ASME Winter Annual Meeting, pages v3, 1--9, Anaheim, CA, December 1986.

Uhlik:87

Chris Uhlik.
An exact computed torque solution for the two-link manipulator with elastic drives.
Stanford University EE 391 Directed Study Report, 1987.

Ullman:89

Marc A. Ullman and Robert H. Cannon.
Experiments in Global Navigation and Control of a Free-Flying Space Robot.
In Proceedings of the ASME Winter Annual Meeting, San-Francisco, CA, December 1989.

Wie:81

Bong Wie.
On the Modeling and Control of Flexible Space Structures.
PhD thesis, Stanford University, Department of Aeronautics and Astronautics, Stanford, CA 94305, June 1981.
Also published as SUDAAR 525.

Workman:87

Michael L. Workman.
Adaptive Proximate Time-Optimal Servomechanisms.
PhD thesis, Stanford University, Department of Electrical Engineering, Stanford, CA 94305, 1987.

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