• Combined approaches to lightweight arm utilization 

      Book, Wayne John; Dickerson, Stephen L.; Hastings, Gordon Greene; Cetinkunt, Sabri; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1985-11)
      In order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. ...
    • Design strategies for high-speed lightweight robots 

      Book, Wayne John; Hastings, Gordon Greene; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1986-09)
      Industrial robots today can lift objects no. heavier than about five percent of their own weight. Imagine a robotic weight lifter competing against the current Olympic human record of 750 lb. By today's standards, that ...
    • Experiments in augmenting active control of a flexible structure with passive damping 

      Alberts, Thomas Edward; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 1986-01)
      Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit ...
    • Experiments in Optimal Control of a Flexible Arm with Passive Damping 

      Alberts, Thomas Edward; Hastings, Gordon Greene; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of Technology, 1985-06)
      This paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible ...
    • Modeling and Control of Flexible Manipulators 

      Alberts, Thomas Edward; Dickerson, Stephen L.; Book, Wayne John (Georgia Institute of TechnologyRobotics International of SME, 1985-06)
      Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...
    • On the transfer function modeling of flexible structures with distributed damping 

      Alberts, Thomas Edward; Dickerson, Stephen L.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1986-12)
      The authors have suggested the use of distributed passive damping via constrained viscoelastic layer surface treatments, as a means of augmenting active controllers for flexible structures. This enhances system stability ...