A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...

The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is suitable ...

A robust adaptive control is derived by signal-synthesis methods for a light, flexible two degree-of-freedom manipulator. The controller for each joint is decentralized, using measurements of one joint's position as ...

The illusion that reactive and hierarchical planning methods are at odds with each other needs to be dropped. By exploiting each method's strengths, a synthesis of hierarchical and reactive paradigms can yield robust, ...

Landmark recognition is a task required of many robotic systems. In this work, we examine the use of a constrained Hough transform used by a mobile robot to locate a docking workstation. This algorithm deals with the ...

RALF (Robotic Arm, Large and Flexible) with a parallel link mechanism has been developed at School of Mechanical Engineering at Georgia Institute of Technology. The structure consists of two ten foot long links and an ...

Initial experiments on state space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements was designed to minimize ...

The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, refered to here as the large or bracing ...

The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. This paper first examines the mathematical representations commonly used in modeling flexible ...

Dynamic equations of motion of flexible manipulators are more complicated than those of rigid manipulators. The number of equations of motion increases as the number of modes to be included increases. It is difficult ...