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    Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches 

    Lew, Jae Young; Cannon, David W.; Magee, David P.; Book, Wayne John (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 ...
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    Structural Flexibility of Motion Systems in the Space Environment 

    Book, Wayne John (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 ...
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    A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator 

    Kwon, Dong-Soo; Book, Wayne John (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 ...
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    Continuum-type stability balloon in oscillated granular layers 

    De Bruyn, John R.; Bizon, C.; Shattuck, M. D.; Goldman, Daniel I.; Swift, J. B.; Swinney, Harry L. (Georgia Institute of Technology, 1998-08-17)
    The stability of convection rolls in a fluid heated from below is limited by secondary instabilities, including the skew-varicose and crossroll instabilities. We observe a stability boundary defined by these same instabilities ...
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    Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators 

    Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of Technology, 1990)
    Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. ...
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    Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations 

    Obergfell, Klaus; Book, Wayne John (Georgia Institute of Technology, 1997-02)
    This article describes a new technique for deriving dynamic equations of motion for serial chain and tree topology mech anisms with common nonholonomic constraints. For each type of nonholonomic constraint, the Boltzmann-Hamel ...
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    Controlled Motion in an Elastic World 

    Book, Wayne John (Georgia Institute of Technology, 1993-03)
    The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the ...
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    Convolution Analysis of Milling Force Pulsation 

    Wang, J.-J. Junz; Liang, Steven Y.; Book, Wayne John (Georgia Institute of Technology, 1994-02)
    This paper presents the establishment of a closed form expression for the dynamic forces as explicit functions of cutting parameters and tool/workpiece geometry in milling processes. Based on the existing local cutting ...
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    Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility 

    Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of Technology, 1990-04)
    The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model ...
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    Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator 

    Lew, J.; Huggins, J.; Magee, D.; Book, Wayne John (Georgia Institute of Technology, 1991-12)
    When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different ...
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    AuthorBook, Wayne John (66)Arkin, Ronald C. (34)Magee, David P. (13)Balch, Tucker (11)MacKenzie, Douglas Christopher (10)Ram, Ashwin (10)Santamaria, Juan Carlos (9)Love, Lonnie J. (8)Egerstedt, Magnus B. (7)Obergfell, Klaus (7)... View MoreSubjectFlexible manipulators (26)Reactive control (12)Teleoperation (9)Adaptive control (7)Neural networks (7)Path planning (7)Reinforcement learning (7)Mobile robots (6)Vibration reduction (6)Robotic manipulators (5)... View MoreDate Issued1997 (20)1999 (20)1993 (15)1994 (15)1996 (13)1995 (12)1992 (11)1990 (8)1998 (8)1991 (6)Has File(s)Yes (121)No (7)
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