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Automated garment manufacturing system using novel sensing and actuation
(Georgia Institute of Technology, 2010-07)
Attempts to automate the sewing process of garment manufacture have employed substitutes for human guidance of fabric into somewhat conventional sewing machines. A new approach has been proposed and partially verified in ...
A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator
(Georgia Institute of Technology, 1994-10)
This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the ...
An integral manifold approach to control of a one link flexible arm
(Georgia Institute of Technology, 1986-12)
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 ...
Inertial Vibration Damping of a Flexible Base Manipulator
(Georgia Institute of Technology, 2003)
A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid ...
Integrated Control for Mobile Manipulation for Intelligent Materials Handling
(Georgia Institute of Technology, 1992)
An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. ...
Combined approaches to lightweight arm utilization
(Georgia Institute of Technology, 1985-11)
In order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. ...
The Concept and Implementation of a Passive Trajectory Enhancing Robot
(Georgia Institute of Technology, 1996-11)
A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, ...
Reactive Control for Mobile Manipulation
(Georgia Institute of Technology, 1993-05)
Research for executing large-scale motions of mobile manipulators is described. Mobile manipulators are mobile bases with an attached arm which function in an integrated manner. Motivation is given for moving the arm while ...
Design and Control Considerations for Industrial and Space Manipulators
(Georgia Institute of Technology, 1974-06)
This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task ...
Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches
(Georgia Institute of Technology, 1995-09)
Pacific Northwest Laboratory (PNL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: 1) modified input shaping and 2) inertial force active damping ...