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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 ...
Symbolic Modeling of Flexible Manipulators
(Georgia Institute of Technology, 1987-04)
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 ...
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 ...
Symbolic Modeling of Flexible Robotic Manipulators
(Georgia Institute of Technology, 1987-04)
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 ...
A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators
(Georgia Institute of Technology, 1988-08)
The control of lightweight flexible manipulators moving along predefined paths
is the focus of this work. The flexible manipulator dynamics is derived on the
basis of a Lagrangian-assumed modes method. The full order ...
Modeling and Control of Flexible Manipulators
(Georgia Institute of Technology, 1985-06)
Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...
Near Optimum Control of Flexible Robot Arms on Fixed Paths
(Georgia Institute of Technology, 1985-12)
This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of ...
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 ...
Experimental Verification of a Large Flexible Manipulator
(Georgia Institute of Technology, 1988-06)
A large experimental lightweight manipulator would be useful for
material handling, for welding, or for ultrasonic inspection of a large
structure such as an airframe. The flexible parallel link mechanism
is designed ...