Now showing items 93-112 of 175

    • A linear dynamic model for flexible robotic manipulators 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...
    • 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 ...
    • Master-Slave Manipulator Performance for Various Dynamic Characteristics and Positioning Task Parameters 

      Book, Wayne John; Hannema, Dirk (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1980-11)
      The performance of manually operated remote manipulators is limited by friction, tolerance of mating parts, limited speed of response, and other unavoidable factors which affect dynamic behavior. A review of the literature ...
    • A Microprocessor controlled robotic exercise machine for athletics and rehabilitation 

      Book, Wayne John; Ruis, David A.; Polhemus, Russell (Georgia Institute of TechnologyAmerican Automatic Control Council, 1979-06)
      The need for an improved resistance training exercise machine is documented and the microcomputer controlled Robotic Exercise Machine is proposed as the answer to that need. A description of the mechanical and electrical ...
    • 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 ...
    • 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 ...
    • 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 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 ...
    • 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 ...
    • Modeling and Simulation of a Pneumatically-Actuated Rescue Robot 

      Daepp, Hannes G.; Book, Wayne John (Georgia Institute of Technology, 2011-03)
      A four-legged pneumatically actuated search and rescue 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 ...
    • Modeling Design, and Control of Flexible Manipulator Arms: A Tutorial Review 

      Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1990-12)
      High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are ...
    • Modeling Mechanisms with Nonholonomic Joints Using the Boltzmann-Hamel Equations 

      Obergfell, Klaus; Book, Wayne John (Georgia Institute of TechnologySAGE Publications, 1997-02)
      This article describes a new technique for deriving dynamic equations of motion for serial chain and tree topology mech anisms with common nonholonomic constraints. For each type of nonholonomic constraint, the Boltzmann-Hamel ...
    • Modeling of biodynamic feedthrough in backhoe operation 

      Humphreys, Heather C.; Book, Wayne John; Huggins, James D. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2009-10)
      An advanced backhoe user interface has been developed which uses coordinated control with haptic feedback. Results indicate that the coordinated control provides more intuitive operation that is easy to learn, and the ...
    • Modeling, Design, and Control of Flexible Manipulator Arms: Status and Trends 

      Book, Wayne John (Georgia Institute of TechnologyNational Aeronautics and Space AdministrationJet Propulsion Laboratory, 1989)
      The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. This paper first examines the mathematical representations commonly used in modeling flexible ...
    • Modelling for two-time scale force position control of flexible robots 

      Rocco, Paolo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-06)
      Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...
    • Modelling for Two-Time Scale Force/Position Control of Flexible Robots 

      Rocco, Paolo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      Distributed flexibility of the links is a severe obstacle for the endpoint position control of lightweight manipulators. In order to accomplish with satisfactory performance certain tasks involving a controlled interaction ...
    • Models of Manipulators and Manipulation 

      Book, Wayne John (Georgia Institute of TechnologyUniversity of Florida, 1978-02)
      As a complex and expensive mechanical system, a manipulator, whether commanded by man or computer, is often better studied by and developed from a mathematical model of the system than by direct observation. Furthermore ...
    • Near Optimum Control of Flexible Robot Arms on Fixed Paths 

      Book, Wayne John; Cetinkunt, Sabri (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1985-12)
      This paper presents the analysis and modification of near optimum trajectories for robotic manipulators moving along pre-defined paths. Modifications of trajectories are done such that the vibrations due to flexibility of ...
    • Neural network control of non minimum phase systems based on a noncausal inverse 

      Register, Andrew H.; Book, Wayne John; Alford, Cecil Orie (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1996-11)
      A new approach for feedforward ANN control of nonminimum phase mechanical systems is proposed. A standard backpropagation-of-errors ANN is used to form an inverse model controller which is applied to simulated nonminimum ...
    • New command shaping methods for reduced vibration of a suspended payload with constrained trolley motion 

      Enes, Aaron R.; Hsu, Timothy Y.; Sodemann, Angela A. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2007-11)
      In manufacturing environments, a common task is to quickly move a suspended payload point-to-point along a fixed overhead conveyor track without inducing significant payload vibration. Recent research in command shaping ...