Research in the control of flexible arms may offer long term solutions to factory automation problems in applications where high performance, long reach, or mobility is required. This paper discusses the reconstruction of ...

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 ...

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 ...

Most models intended for real-time control of distributed parameter systems such as flexible manipulators rely on N-modal approximation schemes[l]. Measurements made on flexible systems yield time varying quantities which ...

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. ...

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 ...

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 ...