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 ...

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. ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...