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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 ...
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 ...
Symbolic Modeling of Flexible Manipulators
(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 ...
A linear dynamic model for flexible robotic manipulators
(Georgia Institute of Technology, 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 ...
Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm
(Georgia Institute of Technology, 1989-12)
A robust adaptive control is derived by signal-synthesis
methods for a light, flexible two degree-of-freedom manipulator. The
controller for each joint is decentralized, using measurements of one
joint's position as ...
Master-Slave Manipulator Performance for Various Dynamic Characteristics and Positioning Task Parameters
(Georgia Institute of Technology, 1980-11)
The performance of manually operated remote manipulators is limited by friction, tolerance of mating parts, limited speed of response, and other unavoidable factors which affect dynamic behavior. A review of the literature ...
Development of a Curriculum for Integrated Manufacturing Systems Engineering
(Georgia Institute of Technology, 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 ...
Design strategies for high-speed lightweight robots
(Georgia Institute of Technology, 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 ...
Robotic exercise machine and method. United States Patent 4,235,437
(Georgia Institute of Technology, 1980-11)
An automatically controlled exercise machine which is intended to produce optimal development of skeletal muscle strength for athletic purposes and in physical rehabilitation. The mechanical configuration of this machine ...