A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ...

The conflict in designing a robot which is fast for large motions and small motions as well as accurate can be alleviated by strategies of operation such as the one described in this paper, called the bracing strategy. ...

This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ...

Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described ...