• 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 ...
    • Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm 

      Yuan, Bau-San; Book, Wayne John; Huggins, J. D. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1989-12)
      A robust adaptive control is derived by signal-synthesis methods for a light, flexible two degree-of-freedom manipulator. The controller for each joint is decentralized, using measurements of one joint's position as ...
    • Integrated Modeling, Simulation, and Animation of Rigid Arms and Vehicles through Object-Oriented Programming 

      Schmitt, Paul Richard; Hogan, John E.; Cameron, Jonathan M.; Book, Wayne John (Georgia Institute of Technology, 1994-02)
      This paper describes an object-oriented system, "MBSIM" (MultiBody SIMulator), that models, simulates, and animates the kinematics and dynamics of robotic arms and vehicles. This system creates a three dimensional graphical ...
    • New Concepts in Lightweight Arms 

      Book, Wayne John (Georgia Institute of TechnologyMIT Press, 1984)
      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. ...
    • A Reduced Order Model Derivation for Lightweight Arms with A Parallel Mechanism 

      Tsujisawa, Takahiko; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1989-05)
      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 ...
    • 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 ...