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Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 1989)
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 linear dynamic model for flexible robotic manipulators
(Georgia Institute of Technology, 1987-02)
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 ...
Decentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design
(Georgia Institute of Technology, 1988-06)
Due to geometric nonlinearities and complex dynamics, a
decentralized technique for adaptive control for multilink robot arms
is attractive. Lyapunov-function theory for stability analysis provides
an approach to robust ...
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
(Georgia Institute of Technology, 1989-06)
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 ...
Efficient Dynamic Models for Flexible Robots
(Georgia Institute of Technology, 1989-05)
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 ...