Now showing items 31-40 of 57
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 ...
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 ...
Modeling and Control of Flexible Manipulators
(Georgia Institute of Technology, 1985-06)
Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...
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 ...
New Concepts in Lightweight Arms
(Georgia Institute of Technology, 1984)
The conflict in designing a robot which is fast for large motions and small motions as well as accurate can be alleviated by strategies of operation such as the one described in this paper, called the bracing strategy. ...
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 ...
Alternative Modeling and Verification Techniques for a Large Flexible Arm
(Georgia Institute of Technology, 1987-06)
Near Optimum Control of Flexible Robot Arms on Fixed Paths
(Georgia Institute of Technology, 1985-12)
This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of ...
A Framework for Analysis of a Bracing Manipulator with Staged Positioning
(Georgia Institute of Technology, 1988)
The concepts of staging and bracing arc introduced with the specific example of a bracing manipulator. Staging describes the operational strategy which divides the positioning procedure into two or more levels to maximize ...
A Reduced Order Model Derivation for Lightweight Arms with A Parallel Mechanism
(Georgia Institute of Technology, 1989-05)
RALF (Robotic Arm, Large and Flexible) with a parallel link mechanism has been developed at School of Mechanical Engineering at Georgia Institute of Technology. The structure consists of two ten foot long links and an ...