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An integral manifold approach to control of a one link flexible arm
(Georgia Institute of Technology, 1986-12)
The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...
Model Reference Adaptive Control of a One Link Flexible Arm
(Georgia Institute of Technology, 1986-12)
Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model ...
Symbolic modelling and dynamic analysis of flexible manipulators
(Georgia Institute of Technology, 1986-10)
This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...
Design strategies for high-speed lightweight robots
(Georgia Institute of Technology, 1986-09)
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 ...
Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators
(Georgia Institute of Technology, 1986)
The control problem for robotic manipulators with flexible links is
considered in this paper. The dynamic equations of motion can be derived by
means of a recently developed Lagrangian-assumed modes method. In the case ...
On the transfer function modeling of flexible structures with distributed damping
(Georgia Institute of Technology, 1986-12)
The authors have suggested the use of distributed passive damping via constrained viscoelastic layer surface treatments, as a means of augmenting active controllers for flexible structures. This enhances system stability ...
Reconstruction and Robust Reduced-Order Observation of Flexible Variables
(Georgia Institute of Technology, 1986-12)
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 ...
Low cost automation with lighter, versatile machines
(Georgia Institute of Technology, 1986-11)
This paper describes the opportunities for improving the cost/performance ratio for industrial robots and other industrial equipment through reduction in their weight. Also described are four approaches to taking advantage ...
Symbolic Modelling and Dynamic Analysis of Flexible Manipulators
(Georgia Institute of Technology, 1986)
This paper presents a systematic method
to symbolically derive the full nonlinear dynamic
equations of motion of Multi-link flexible
manipulators. Lagrange's-Assumed Modes method is
used for the dynamic modelling and ...
Experiments in augmenting active control of a flexible structure with passive damping
(Georgia Institute of Technology, 1986-01)
Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit ...