Now showing items 31-40 of 158
Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration
(Georgia Institute of Technology, 1993-06)
The requirements for large robots in waste management and space applications necessitate active vibration control algorithms. The use of long, flexible links provides the needed range of motion but their inherent flexibility ...
Dynamics of Two Serially Connected Manipulators
(Georgia Institute of Technology, 1992)
The objective of this paper is to generate a closed form of the equations of motion for two serially connected manipulators. Instead of computing the coupled dynamics directly, this work constructs overall dynamic equations ...
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 ...
Considerations in Selection of DC Motors for Lightweight Arms
(Georgia Institute of Technology, 1984-06)
This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ...
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 ...
A Microprocessor controlled robotic exercise machine for athletics and rehabilitation
(Georgia Institute of Technology, 1979-06)
The need for an improved resistance training exercise machine is documented and the microcomputer controlled Robotic Exercise Machine is proposed as the answer to that need. A description of the mechanical and electrical ...
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 ...
Control and Applications of Cooperating Disparate Manipulators Relevant to Nuclear Waste Management
(Georgia Institute of Technology, 1990)
Minimum aisle width path planning for automated guided vehicles (AGVs)
(Georgia Institute of Technology, 1997-05)
Automated guided vehicle systems (AGVSs) are often used to transfer materials from one location to another in industrial environments. Due to the high cost of floor space and ever-present safety concerns, facilities that ...
Design strategies for high-speed lightweight robots
(Georgia Institute of Technology, 1986-09)
Industrial robots today can lift objects no. heavier than about five percent of their own weight. Imagine a robotic weight lifter competing against the current Olympic human record of 750 lb. By today's standards, that ...