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 ...

This paper describes the Computer Integrated Manufacturing (CIMS) Program at the Georgia Institute of Technology, which was established with the help of a grant from the IBM Corporation. The Program began its third year ...

Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...

This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of ...

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. ...

Productivity of the industrial robots are directly related to the speed of the task execution. The speed of the robots can be drastically improved by using better control algorithms and reducing the weight of the manipulator. ...

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 ...