Now showing items 141-160 of 175

    • Sensor Fusion for Long-Reach Manipulators: System Description and Initial Experiments 

      Obergfell, Klaus; Book, Wayne John; Huggins, James D. (Georgia Institute of TechnologySociety for Experimental Mechanic, 1993-06)
      Precise knowledge of the end-effector position of long-reach, lightweight manipulators is important because the inherit flexibility can cause deflections and vibrations of the structure. A non-contact, low-cost ...
    • Sharing Control Can Increase Excavation Productivity 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of Technology, 2011-03)
      Researchers at the Georgia Institute of Technology have demonstrated that the completion time of common excavation tasks is decreased when an operator and an electronic agent share control of the actuator velocity commands. ...
    • Simulation, Animation, and Control of Multi-Body Mechanisms 

      Hogan, John E.; Book, Wayne John (Georgia Institute of TechnologyAmerican Nuclear Society, 1994-08)
      A three-dimensional graphical environment, called the Multi-Body Simulator or MBSim, has been developed for the simulation, animation, and control of multi-body mechanisms with or without sensors. The mechanisms can ...
    • A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologySage Publications, 1988-08)
      The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...
    • Sliding mode control of a non-collocated flexible system 

      Beargie, Aimee M.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2003-11)
      A new control method is developed for position tracking control of a flexible, non-collocated system. The desired trajectory is specified for the free end of a flexible beam that moves along a horizontal track actuated by ...
    • Small Motion Experiments on a Large Flexible Arm with Strain Feedback 

      Yuan, B. S.; Huggins, J. D.; Book, Wayne John (Georgia Institute of TechnologyAmerican Control Conference, 1989-06)
      Initial experiments on state space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements was designed to minimize ...
    • 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 ...
    • Stability in active mass damping control of a flexible robot 

      Krauss, Ryan W.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-03)
      Active mass damping has been shown to be an effective method for reducing vibrations in flexible robots by previous researchers working on an experimental test bed at Georgia Tech. Acceleration feedback can cause instability ...
    • Steerability in Planar Dissipative Passive Robots 

      Gao, Dalong; Book, Wayne John (Georgia Institute of TechnologySAGE Publications, 2009)
      Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive ...
    • Structural Flexibility of Motion Systems in the Space Environment 

      Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1993-10)
      The state-of-the-art is summarized, focusing on interdisciplinary approaches and positions, and future directions in the design, analysis, and control of lightweight robotic and telerobotic motion systems for space application ...
    • 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 ...
    • Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1988-05)
      The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangian-assumed modes formulation. This form of dynamic model is suitable ...
    • 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 ...
    • Symbolic Modeling of Flexible Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm ...
    • Symbolic Modeling of Flexible Robotic Manipulators 

      Book, Wayne John; Cetinkunt, Sabri (Georgia Institute of Technology, 1987-04)
      This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-assumed modes method is the basis of the new algorithm ...
    • Symbolic Modelling and Dynamic Analysis of Flexible Manipulators 

      Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne John (Georgia Institute of Technology, 1986)
      This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...
    • Symbolic modelling and dynamic analysis of flexible manipulators 

      Cetinkunt, Sabri; Siciliano, Bruno; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1986-10)
      This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and ...
    • Technology and Task Parameters Relating to the Effectiveness of the Bracing Strategy 

      Book, Wayne John; Wang, J. J. (Georgia Institute of TechnologyNational Aeronautics and Space Administration, 1989)
      The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, refered to here as the large or bracing ...
    • A Teleoperation Testbed for Nuclear Waste Restoration 

      Book, Wayne John; Love, Lonnie J.; Farah, Michel (Georgia Institute of TechnologyAmerican Nuclear Society, 1994-08)
      This paper presents the design and operation of a new teleoperation testbed currently under investigation at the Georgia Institute of Technology. This laboratory will enable researchers to investigate a wide range of issues ...
    • Theory and practice of robots and manipulators 

      Book, Wayne John (Georgia Institute of TechnologyElsevier, 1977)
      The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a ...