Now showing items 1-15 of 15

    • Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe 

      Heather C. Humphreys; Book, Wayne John; Huggins, James D. (Georgia Institute of Technology, 2011-03)
      In some operator-controlled machines, motion of the controlled machine excites motion of the human operator, which is fed back into the control device, causing unwanted input and sometimes instability; this phenomenon is ...
    • The Bracing Strategy for Robot Operation 

      Book, Wayne John; Sangveraphunsiri, Viboon; Le, Sanh (Georgia Institute of TechnologyMIT Press, 1984-06)
      A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ...
    • Control and Control Theory for Flexible Robots 

      Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1993-04)
      As the requirements for robot performance increase, the dynamics of the manipulator become more dominated by flexibility. These flexible effects generate model uncertainty which reduces the end-point positioning accuracy ...
    • Control of a Robotic Exercise Machine 

      Book, Wayne John; Ruis, David A. (Georgia Institute of TechnologyAmerican Automatic Control Council, 1981-06)
      Exercise devices provide a means of resisting user applied forces for purposes of improving physical performance. The characteristics of the device include its path of motion and the functional relationship between applied ...
    • Design studies on a robotic device for ultrasonic inspection 

      Sangveraphunsiri, Viboon; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1981-09)
      Design studies in progress on a special purpose robot are described. The robot is to be used for ultrasonic inspection of extruded and forged parts immersed in water in a large tank. The studies focus on establishing the ...
    • 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 ...
    • 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 ...
    • 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 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 ...
    • 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 ...
    • On the transfer function modeling of flexible structures with distributed damping 

      Alberts, Thomas Edward; Dickerson, Stephen L.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1986-12)
      The authors have suggested the use of distributed passive damping via constrained viscoelastic layer surface treatments, as a means of augmenting active controllers for flexible structures. This enhances system stability ...
    • Reconstruction and Robust Reduced-Order Observation of Flexible Variables 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1986-12)
      Most models intended for real-time control of distributed parameter systems such as flexible manipulators rely on N-modal approximation schemes[l]. Measurements made on flexible systems yield time varying quantities which ...
    • A Robust Scheme for Direct Adaptive Control of Flexible Arms 

      Yuan, Bau-San; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1987-11)
      In exchange for light weight in the design of arms, one must accept an increase in system flexibility and the associated difficulty in accurately controlling a flexible structure. Both rigid body motions and flexural ...
    • 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 ...
    • 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 ...