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Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration
(Georgia Institute of Technology, 2002-06)
The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small ...
Modeling and Control of an Improved Dissipative Passive Haptic Display
(Georgia Institute of Technology, 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 ...
Neural network control of non minimum phase systems based on a noncausal inverse
(Georgia Institute of Technology, 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 ...
Command filtering and path planning for remote manipulation of a long reach flexible robot
(Georgia Institute of Technology, 1996-04)
We focus on the fusion of autonomous and teleoperated commands. This combination provides full use of the robot's workspace without requiring large motion amplification between a master and slave robot. Combining autonomous ...
Wave-based teleoperation with prediction
(Georgia Institute of Technology, 2001-06)
Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a ...
Environment Estimation for Enhanced Impedance Control
(Georgia Institute of Technology, 1995-05)
Impedance control is a popular method of controlling the dynamic response a robot has to external forces. The advantage of such a control paradigm is the ability to manipulate in both unconstrained and constrained environments. ...
Practical models for practical flexible arms
(Georgia Institute of Technology, 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 ...
The Concept and Implementation of a Passive Trajectory Enhancing Robot
(Georgia Institute of Technology, 1996-11)
A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, ...
An integral manifold approach to control of a one link flexible arm
(Georgia Institute of Technology, 1986-12)
The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...
Control concepts for digital clay
(Georgia Institute of Technology, 2003-09)
Digital Clay is a new generation of 3D computer input and output device for surface shape. Its three control levels are introduced in this paper. The device consists of arrays of fluidically actuated cells under the control ...