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 ...

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

Hydraulic actuators have traditionally found application in servo systems requiring high bandwidth, high power per unit mass, and permitting low overall energy efficiency, the presence of hydraulic oil, and a rather bulky ...

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 ...

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 ...

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 ...

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 ...

A parallelogram drive enables lightweight arms to have a higher rigidity and to reduce the actuator weight moved. Analysis of the flexible closed kinematic chain dynamics and design of the control are described in this ...

The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this ...

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 ...