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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 ...
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. ...
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 ...
Modeling and Optimal Control of a Lightweight Bracing Manipulator
(Georgia Institute of Technology, 1987)
Bracing strategy can improve the stiffness of a lightweight
manipulator. A lightweight bracing manipulator provides better
maneuverability in gross motions and higher precision in small
motions. In order to maintain ...
A Robust Scheme for Direct Adaptive Control of Flexible Arms
(Georgia Institute of Technology, 1987-11)
In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in
accurately controlling a flexible structure. Both rigid body motions and flexural ...
Alternative Modeling and Verification Techniques for a Large Flexible Arm
(Georgia Institute of Technology, 1987-06)
Experiments in Optimal Control of a Flexible Arm with Passive Damping
(Georgia Institute of Technology, 1985-06)
This paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible ...
Symbolic Modelling and Dynamic Analysis of Flexible Manipulators
(Georgia Institute of Technology, 1986)
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 ...
Controller Design for Flexible Distributed Parameter Mechanical Arms via Combined State Space and Frequency Domain Techniques
(Georgia Institute of Technology, 1983-12)
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 ...
A Comparison of Natural Frequency Methods for Flexible Manipulator Arms
(Georgia Institute of Technology, 1980-11)
Predictions of natural frequencies of flexible manipulator arms as performed by alternative structural models and computer implementations are compared. The Space Shuttle Remote Manipulator System (RMS) manipulator arm is ...