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Model Reference Adaptive Control of a One Link Flexible Arm
(Georgia Institute of Technology, 1986-12)
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 ...
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 ...
Recursive Lagrangian Dynamics of Flexible Manipulators
(Georgia Institute of Technology, 1984-09)
Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described ...
An approach to the minimum time control of a simple flexible arm
(Georgia Institute of Technology, 1983-11)
To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. ...