Now showing items 148-167 of 175

    • Stability in active mass damping control of a flexible robot 

      Krauss, Ryan W.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-03)
      Active mass damping has been shown to be an effective method for reducing vibrations in flexible robots by previous researchers working on an experimental test bed at Georgia Tech. Acceleration feedback can cause instability ...
    • Steerability in Planar Dissipative Passive Robots 

      Gao, Dalong; Book, Wayne John (Georgia Institute of TechnologySAGE Publications, 2009)
      Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive ...
    • Structural Flexibility of Motion Systems in the Space Environment 

      Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1993-10)
      The state-of-the-art is summarized, focusing on interdisciplinary approaches and positions, and future directions in the design, analysis, and control of lightweight robotic and telerobotic motion systems for space application ...
    • Structural Vibration Control of Micro/Macro-Manipulator Using Feedforward and Feedback Approaches 

      Lew, Jae Young; Cannon, David W.; Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyPacific Northwest Laboratory, 1995-09)
      Pacific Northwest Laboratory (PNL) researchers investigated the combined use of two control approaches to minimize micro/macro-manipulator structural vibration: 1) modified input shaping and 2) inertial force active damping ...
    • 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 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 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 ...
    • Technology and Task Parameters Relating to the Effectiveness of the Bracing Strategy 

      Book, Wayne John; Wang, J. J. (Georgia Institute of TechnologyNational Aeronautics and Space Administration, 1989)
      The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, refered to here as the large or bracing ...
    • A Teleoperation Testbed for Nuclear Waste Restoration 

      Book, Wayne John; Love, Lonnie J.; Farah, Michel (Georgia Institute of TechnologyAmerican Nuclear Society, 1994-08)
      This paper presents the design and operation of a new teleoperation testbed currently under investigation at the Georgia Institute of Technology. This laboratory will enable researchers to investigate a wide range of issues ...
    • Theory and practice of robots and manipulators 

      Book, Wayne John (Georgia Institute of TechnologyElsevier, 1977)
      The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a ...
    • Time-Delay Command Shaping Filters: Robust and/or Adaptive 

      Book, Wayne John; Magee, David P.; Rhim, Sungsoo (Georgia Institute of TechnologyRobotics Society of Japan, 1999-09)
      Time-delay command shaping filters for reducing the vibrational response of flexible systems are introduced and discussed. Special attention is given to the role played by robustness and adaptation in producing effective ...
    • A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator 

      Kwon, Dong-Soo; Book, Wayne John (Georgia Institute of TechnologyThe American Society of Mechanical Engineers, 1994-06)
      A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the ...
    • Torque control of a redundantly actuated passive manipulator 

      Davis, Hurley T.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-06)
      The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic displays, surgical robots, teleoperation, and manufacl1u·ing. This paper describes a ...
    • Torque feedback control of dry friction clutches for a dissipative passive haptic interface 

      Swanson, Davin K.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-09)
      The control of a passive dissipative haptic interface using electromagnetic dry friction clutches as actuators is considered. The performance of the device is currently limited by actuator performance. A dynamic simulation ...
    • Towards Shared Control of Hydraulic Excavators 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of Technology, 2010-06)
      Presently, excavator operators manually control all functions of the machine. Decreases to a task's time or energy cost are historically achieved by designing better systems and components or through operator training. In ...
    • Tracking Control of Nonminimum-Phase Flexible Manipulation 

      Kwon, Dong-Soo; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1991)
      Perfect tracking or asymptotic tracking of the tip position of a flexible manipulator, which is a typical nonminimum-phase system, has been very difficult because of the positive zeros of the nonminimum-phase system 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 ...