Browsing Institute for Robotics and Intelligent Machines (IRIM) by Issue Date
Now showing items 21-40 of 1706
-
The Bracing Strategy for Robot Operation
(Georgia Institute of TechnologyMIT Press, 1984-06)A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ... -
Considerations in Selection of DC Motors for Lightweight Arms
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1984-06)This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ... -
Recursive Lagrangian Dynamics of Flexible Manipulators
(Georgia Institute of TechnologyMIT Press, 1984-09)Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described ... -
Optimum control of flexible robot arms on fixed paths
(Georgia Institute of TechnologyU.S. Army Research Office, 1985-05)Productivity of the industrial robots are directly related to the speed of the task execution. The speed of the robots can be drastically improved by using better control algorithms and reducing the weight of the manipulator. ... -
Experiments in optimal control of a flexible arm
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1985-06)Research in the control of flexible arms may offer long term solutions to factory automation problems in applications where high performance, long reach, or mobility is required. This paper discusses the reconstruction of ... -
Modeling and Control of Flexible Manipulators
(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 ... -
Experiments in the Control of a Flexible Robot Arm
(Georgia Institute of TechnologyRobotics International of SME, 1985-06)Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is ... -
Experiments in Optimal Control of a Flexible Arm with Passive Damping
(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 ... -
Combined approaches to lightweight arm utilization
(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. ... -
University and Industry Cooperation in the Development of a Curriculum for Integrated Manufacturing Systems Engineering
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1985-12)This paper describes the Computer Integrated Manufacturing (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 year ... -
Near Optimum Control of Flexible Robot Arms on Fixed Paths
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1985-12)This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of ... -
Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators
(Georgia Institute of Technology, 1986)The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ... -
Symbolic Modelling and Dynamic Analysis of Flexible Manipulators
(Georgia Institute of Technology, 1986)This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ... -
Experiments in augmenting active control of a flexible structure with passive damping
(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 ... -
Design strategies for high-speed lightweight robots
(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 ... -
Symbolic modelling and dynamic analysis of flexible manipulators
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-10)This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ... -
Low cost automation with lighter, versatile machines
(Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Pergamon Press, 1986-11)This paper describes the opportunities for improving the cost/performance ratio for industrial robots and other industrial equipment through reduction in their weight. Also described are four approaches to taking advantage ... -
An integral manifold approach to control of a one link flexible arm
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-12)The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ... -
Model Reference Adaptive Control of a One Link Flexible Arm
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-12)Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model ... -
On the transfer function modeling of flexible structures with distributed damping
(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 ...