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 ...

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 ...

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 ...

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 ...

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. ...

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 ...

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 ...

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 ...

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 ...