Now showing items 1-13 of 13

    • Combined approaches to lightweight arm utilization 

      Book, Wayne John; Dickerson, Stephen L.; Hastings, Gordon Greene; Cetinkunt, Sabri; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 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. ...
    • Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Astronautical Society, 1990)
      Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. ...
    • Near Optimum Control of Flexible Robot Arms on Fixed Paths 

      Book, Wayne John; Cetinkunt, Sabri (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Optimum control of flexible robot arms on fixed paths 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyU.S. Army Research Office, 1985-05)
      Productivity of the industrial robots are directly related to the speed of the task execution. The speed of the robots can be drastically improved by using better control algorithms and reducing the weight of the manipulator. ...
    • Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1990-04)
      The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model ...
    • Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Control Conference, 1988-06)
      The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. ...
    • Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyPergamon Press, 1989)
      The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is suitable ...
    • Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1988-05)
      The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangian-assumed modes formulation. This form of dynamic model is suitable ...
    • Symbolic Modeling of Flexible Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm ...
    • Symbolic Modeling of Flexible Robotic Manipulators 

      Book, Wayne John; Cetinkunt, Sabri (Georgia Institute of Technology, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-assumed modes method is the basis of the new algorithm ...
    • Symbolic Modelling and Dynamic Analysis of Flexible Manipulators 

      Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne John (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 ...
    • Symbolic modelling and dynamic analysis of flexible manipulators 

      Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-10)
      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 ...
    • Transfer functions of flexible beams and implication of flexibilty on controller performance 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 1994)
      Dynamic behavior of many mechanical motion systems having distributed flexibility are described by linear partial differential equations, i.e. flexible beams, satellite appendages, plates. Understanding the open loop ...