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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 ...
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 ...
Continuum-type stability balloon in oscillated granular layers
(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 ...
Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators
(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. ...
Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations
(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 ...
Controlled Motion in an Elastic World
(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 ...
Convolution Analysis of Milling Force Pulsation
(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 ...
Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility
(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 ...
Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator
(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 ...