• Analysis of poles and zeros for tapered link designs 

      Girvin, Douglas L.; Book, Wayne John (Georgia Institute of TechnologyWorld Scientific Press, 2003)
      This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque ...
    • Contact Stability Analysis of Virtual Walls 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1995-11)
      Haptic interfaces are mechanical systems coupled to humans. These devices provide a method of relaying mechanical information between a human and a computer generated environment. A basic element in any virtual environment ...
    • Design and Control of a Multiple Degree of Freedom Haptic Interface 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1994-11)
      The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into a wide spectrum of tasks that directly link human and machine. Haptic interfaces are robots that are ...
    • Force reflecting teleoperation with adaptive impedance control 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-02)
      Experimentation and a survey of the literature clearly show that contact stability in a force reflecting teleoperation system requires high levels of damping on the master robot. However, excessive damping increases the ...
    • Low cost automation with lighter, versatile machines 

      Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Pergamon Press, 1986-11)
      This paper describes the opportunities for improving the cost/performance ratio for industrial robots and other industrial equipment through reduction in their weight. Also described are four approaches to taking advantage ...
    • Modeling and Control of an Improved Dissipative Passive Haptic Display 

      Reed, Matthew R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004)
      This paper investigates the modeling and control of a new dissipative passive haptic display that uses magneto rheological (MR) brakes as actuators. The device is energetically passive, meaning that it can only remove ...
    • Modeling and Optimal Control of a Lightweight Bracing Manipulator 

      Chung, Ya-Chien; Lu, Shui-Shong; Book, Wayne John (Georgia Institute of TechnologyChinese Institute of Engineers, 1987)
      Bracing strategy can improve the stiffness of a lightweight manipulator. A lightweight bracing manipulator provides better maneuverability in gross motions and higher precision in small motions. In order to maintain ...
    • Obstacle avoidance methods for a passive haptic display 

      Swanson, Davin K.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2001-07)
      An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order ...
    • 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 ...