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Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches
(Georgia Institute of Technology, 1995-09)
Pacific Northwest Laboratory (PNL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: 1) modified input shaping and 2) inertial force active damping ...
Robot vibrations
(Georgia Institute of Technology, 2001)
The nature of robotic arms invites vibratory behavior while the function of robotic arms is heavily penalized by that vibration. Consequently, understanding and compensating for the tendencies of a robot to vibrate are of ...
Analysis of poles and zeros for tapered link designs
(Georgia Institute of Technology, 2003)
This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque ...
Noise effect on adaptive command shaping methods for flexible manipulator control
(Georgia Institute of Technology, 2001-01)
Since its introduction, the command shaping method to design command shapers as robust as possible based on the has been applied to the control of many types of flexible manipu- available infonnation on a given system ...
Structural Flexibility of Motion Systems in the Space Environment
(Georgia Institute of Technology, 1993-10)
The state-of-the-art is summarized, focusing on interdisciplinary approaches and positions, and future directions in the design, analysis, and control of lightweight robotic and telerobotic motion systems for space application ...
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
(Georgia Institute of Technology, 1994-06)
A manipulator system with a large workspace volume and high payload capacity
has greater link flexibility than do typical industrial robots and teleoperators. If link
flexibility is significant, position control of the ...
Controller Design for Flexible Distributed Parameter Mechanical Arms via Combined State Space and Frequency Domain Techniques
(Georgia Institute of Technology, 1983-12)
The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this ...
Analysis of massless elastic chains with servo controlled joints
(Georgia Institute of Technology, 1979-09)
The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...
Direct Adaptive Control of a One-Link Flexible Arm with Tracking
(Georgia Institute of Technology, 1989)
A robust tracking controller for a one-link flexible arm based on a model reference
adaptive control approach is proposed. In order to satisfy the model matching conditions,
the reference model is chosen to be the optimally ...
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 1989)
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and
joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is
suitable ...