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  • Experiments in Optimal Control of a Flexible Arm with Passive Damping 

    Alberts, Thomas Edward; Hastings, Gordon Greene; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of Technology, 1985-06)
    This paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible ...
  • 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 ...
  • Speed Control and Position Estimation of Small Hydraulic Cylinders for Digital Clay Using PWM Method 

    Zhu, Haihong; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2004-07)
    Digital Clay is a new generation 3D computer input and output device for surface shape and haptic effects. The device consists of arrays of fluidically actuated cells under the control of valves connected to two pressure ...
  • An investigation of a passively controlled haptic interface 

    Davis, Hurley T.; Book, Wayne John (Georgia Institute of TechnologyAmerican Nuclear Society, 1997)
    Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays ...
  • Robotic exercise machine and method. United States Patent 4,235,437. 

    Ruis, David A.; Polhemus, Russell W.; Book, Wayne John (Georgia Institute of TechnologyUnited States Patent and Trade Office, 1980-11)
    An automatically controlled exercise machine which is intended to produce optimal development of skeletal muscle strength for athletic purposes and in physical rehabilitation. The mechanical configuration of this machine ...
  • Modeling and Control of Flexible Manipulators 

    Alberts, Thomas Edward; Dickerson, Stephen L.; Book, Wayne John (Georgia Institute of TechnologyRobotics International of SME, 1985-06)
    Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...
  • Experiments in augmenting active control of a flexible structure with passive damping 

    Alberts, Thomas Edward; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 1986-01)
    Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit ...
  • Minimum aisle width path planning for automated guided vehicles (AGVs) 

    Hogan, John E.; Book, Wayne John (Georgia Institute of TechnologyACTA Press, 1997-05)
    Automated guided vehicle systems (AGVSs) are often used to transfer materials from one location to another in industrial environments. Due to the high cost of floor space and ever-present safety concerns, facilities that ...
  • Experiments in the Control of a Flexible Robot Arm 

    Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyRobotics International of SME, 1985-06)
    Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is ...
  • 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 ...
  • Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices 

    Book, Wayne John (Georgia Institute of TechnologyRobotics Institute, Carnegie Mellon University, 1983-12)
    Improving the performance of most engineering systems requires the ability to model the system’s behavior with improved accuracy. The evolution of the mechanical arm from teleoperator and crane to present day industrial ...
  • 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 ...
  • 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 ...
  • Contact Control for Advanced Applications of Light Weight Arms 

    Book, Wayne John; Kwon, Dong-Soo (Georgia Institute of TechnologyKluwer Academic Publishers, 1992)
    Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems ...
  • Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators 

    Siciliano, Bruno; Book, Wayne John (Georgia Institute of Technology, 1986)
    The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ...
  • Inertial Vibration Damping Control of a Flexible Base Manipulator 

    George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2002-11)
    A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid ...
  • Inertial Vibration Damping of a Flexible Base Manipulator 

    George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyJapan Society of Mechanical Engineers, 2003)
    A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid ...
  • Automated garment manufacturing system using novel sensing and actuation 

    Book, Wayne John; Winck, Ryder C.; Killpack, Marc D.; Huggins, James D.; Dickerson, Stephen L.; Jayaraman, Sundaresan; Collins, Thomas R.; Prado, Ronald J. (Georgia Institute of Technology, 2010-07)
    Attempts to automate the sewing process of garment manufacture have employed substitutes for human guidance of fabric into somewhat conventional sewing machines. A new approach has been proposed and partially verified in ...
  • 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 ...
  • An interactive simulation for a fluid-powered legged search and rescue robot 

    Book, Wayne John; Daepp, Hannes G.; Kim, Ta Y.; Radecki, Peter P. (Georgia Institute of Technology, 2010-07)
    A pneumatically actuated search and rescue quadrapedal robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation ...

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