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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 ...
Modeling Design, and Control of Flexible Manipulator Arms: A Tutorial Review
(Georgia Institute of Technology, 1990-12)
High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are ...
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 ...
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 ...
Control for Two Cooperative Disparate Manipulators
(Georgia Institute of Technology, 1991-02)
The concept of a small arm mounted on the end of a large arm has been introduced to provide precise motion as well as a large workspace. However, the performance of such a serial configuration lacks payload capacity which ...
Experimental Verification of Modified Command Shaping Using a Flexible Manipulator
(Georgia Institute of Technology, 1992-09)
A brief discussion introduces the original input shaping method applied to a system with varying parameters. A change in parameters causes a vibration in the system and a modified command shaping technique is created to ...
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 Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator
(Georgia Institute of Technology, 1991-12)
When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different ...
Hybrid Control of Flexible Manipulators with Multiple Contacts
(Georgia Institute of Technology, 1993-05)
A hybrid position/force controller is proposed for flexible link manipulators that make contact with the environment at more than one point. The dynamic equations of the motion with multiple contact constraints are derived. ...
Combining a multirate repetitive learning controller with command shaping for improved flexible manipulator control
(Georgia Institute of Technology, 1999-11)
Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate ...