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 ...

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 ...

This paper describes the Computer Integrated Manufacturing Systems (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 ...

Bracing strategy can improve the stiffness of a lightweight manipulator. A lightweight bracing manipulator provides better maneuverability in gross motions and higher precision in small motions. In order to maintain ...

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 ...

In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural ...

In the past, mobile robots have been constrained to operate in either an indoor or an outdoor environment, not both. Special purpose representations and ad hoc sensor techniques geared towards tasks of narrow focus have ...