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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 ...
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 ...
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 ...
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 ...
Contact Control for Advanced Applications of Light Weight Arms
(Georgia Institute of Technology, 1992)
Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems ...
Dynamics of Flexible Manipulator Arms: Alternative Derivation, Verification, and Characteristics for Control
(Georgia Institute of Technology, 1993-09)
This work seeks to provide an effective way for developing the dynamics of a multi-link flexible manipulator consisting of rotary joints connecting two links. Kinematics of both the rotary joint motion and the link deformation ...
Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain
(Georgia Institute of Technology, 1999-06)
Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless ...
Vision sensing for control of long-reach flexible manipulators
(Georgia Institute of Technology, 1996-07)
This paper presents an end-point position measurement method for long-reach flexible manipulators using a landmark tracking system (LTS). The LTS is based on a computer vision system designed for the tracking of retro ...
Modelling for two-time scale force position control of flexible robots
(Georgia Institute of Technology, 1996-06)
Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...