• Command filtering and path planning for remote manipulation of a long reach flexible robot 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      We focus on the fusion of autonomous and teleoperated commands. This combination provides full use of the robot's workspace without requiring large motion amplification between a master and slave robot. Combining autonomous ...
    • Experimental Study on Micro/Macro Manipulator Vibration Control 

      Cannon, David W.; Magee, David P.; Lew, Jae Y.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro ...
    • Implementing Modified Command Filtering to Eliminate Multiple Modes of Vibration 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyAmerican Control Conference, 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 ...
    • Inverse dynamics for commanding micromanipulator inertial forces to damp macromanipulator vibration 

      Loper, Jeffery Cameron; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-10)
      A multi degree of freedom manipulator can be commanded to generate base forces by utilization of the dynamic equations relating joint torques or joint accelerations to base forces. This can be extended to a full order case ...