• Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 1996-07)
      Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced ...
    • Direct Adaptive Control of a One-Link Flexible Arm with Tracking 

      Yuan, Bau-San; Book, Wayne John; Siciliano, Bruno (Georgia Institute of TechnologyJohn Wiley & Sons, Inc., 1989)
      A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...
    • Experiments in optimal control of a flexible arm 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1985-06)
      Research in the control of flexible arms may offer long term solutions to factory automation problems in applications where high performance, long reach, or mobility is required. This paper discusses the reconstruction of ...
    • An integral manifold approach to control of a one link flexible arm 

      Siciliano, Bruno; Book, Wayne John; De Maria, Giuseppe (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-12)
      The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...
    • Model Reference Adaptive Control of a One Link Flexible Arm 

      Siciliano, Bruno; Yuan, Bau-San; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-12)
      Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model ...
    • Practical models for practical flexible arms 

      Book, Wayne John; Obergfell, Klaus (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2000-04)
      A laboratory robot with 3m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response ...