Now showing items 41-60 of 1540

    • Towards Cosmopolitan Robots: Intelligent Navigation in Extended Man-Made Environments 

      Arkin, Ronald C. (Georgia Institute of Technology, 1987)
      In the past, mobile robots have been constrained to operate in either an indoor or an outdoor environment, not both. Special purpose representations and ad hoc sensor techniques geared towards tasks of narrow focus have ...
    • Modeling and Optimal Control of a Lightweight Bracing Manipulator 

      Chung, Ya-Chien; Lu, Shui-Shong; Book, Wayne John (Georgia Institute of TechnologyChinese Institute of Engineers, 1987)
      Bracing strategy can improve the stiffness of a lightweight manipulator. A lightweight bracing manipulator provides better maneuverability in gross motions and higher precision in small motions. In order to maintain ...
    • Development of a Curriculum for Integrated Manufacturing Systems Engineering 

      Book, Wayne John; Krosner, Stephen P.; Haddad, Abraham H. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      This paper describes the Computer Integrated Manufacturing Systems (CIMS) Program at the Georgia Institute of Technology, which was established with the help of a grant from the IBM Corporation. The program began its third ...
    • A linear dynamic model for flexible robotic manipulators 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...
    • Symbolic Modeling of Flexible Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm ...
    • Symbolic Modeling of Flexible Robotic Manipulators 

      Book, Wayne John; Cetinkunt, Sabri (Georgia Institute of Technology, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-assumed modes method is the basis of the new algorithm ...
    • Alternative Modeling and Verification Techniques for a Large Flexible Arm 

      Huggins, James D.; Kwon, Dong-Soo; Lee, Jae Weon; Book, Wayne John (Georgia Institute of Technology, 1987-06)
    • A Robust Scheme for Direct Adaptive Control of Flexible Arms 

      Yuan, Bau-San; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1987-11)
      In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural ...
    • Intelligent Mobile Robots in the Workplace: Leaving the Guide Behind 

      Arkin, Ronald C. (Georgia Institute of Technology, 1988)
      Flexible manufacturing systems (FMS) that incorporate transport robots are currently dominated by the use of automatic guided vehicles. These AGVs generally require significant restructuring of the workplace in order for ...
    • A Framework for Analysis of a Bracing Manipulator with Staged Positioning 

      Kwon, Dong-Soo; Book, Wayne John (Georgia Institute of Technology, 1988)
      The concepts of staging and bracing arc introduced with the specific example of a bracing manipulator. Staging describes the operational strategy which divides the positioning procedure into two or more levels to maximize ...
    • Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1988-05)
      The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangian-assumed modes formulation. This form of dynamic model is suitable ...
    • Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design 

      Yuan, Bau-San; Book, Wayne John (Georgia Institute of TechnologyAmerican Control Conference, 1988-06)
      Due to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust ...
    • Experimental Verification of a Large Flexible Manipulator 

      Lee, Jae Won; Huggins, James D. (Georgia Institute of TechnologyAmerican Automatic Control Council, 1988-06)
      A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure such as an airframe. The flexible parallel link mechanism is designed ...
    • Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Control Conference, 1988-06)
      The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. ...
    • Dynamic Analysis and Control of Lightweight Arms with a Parallel Mechanism 

      Yuan, B. S.; Lee, J. W.; Book, Wayne John (Georgia Institute of Technology, 1988-07)
      A parallelogram drive enables lightweight arms to have a higher rigidity and to reduce the actuator weight moved. Analysis of the flexible closed kinematic chain dynamics and design of the control are described in this ...
    • A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologySage Publications, 1988-08)
      The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...
    • Towards the Unification of Navigational Planning and Reactive Control 

      Arkin, Ronald C. (Georgia Institute of Technology, 1989)
      The illusion that reactive and hierarchical planning methods are at odds with each other needs to be dropped. By exploiting each method's strengths, a synthesis of hierarchical and reactive paradigms can yield robust, ...
    • Workstation Recognition Using a Constrained Edge Based Hough Transform for Mobile Robot Navigation 

      Arkin, Ronald C.; Vaughn, David L. (Georgia Institute of Technology, 1989)
      Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the ...
    • Modeling, Design, and Control of Flexible Manipulator Arms: Status and Trends 

      Book, Wayne John (Georgia Institute of TechnologyNational Aeronautics and Space AdministrationJet Propulsion Laboratory, 1989)
      The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. This paper first examines the mathematical representations commonly used in modeling flexible ...
    • Technology and Task Parameters Relating to the Effectiveness of the Bracing Strategy 

      Book, Wayne John; Wang, J. J. (Georgia Institute of TechnologyNational Aeronautics and Space Administration, 1989)
      The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, refered to here as the large or bracing ...