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Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 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 modelling and dynamic analysis of flexible manipulators
(Georgia Institute of Technology, 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 ...
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 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 ...
Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators
(Georgia Institute of Technology, 1990)
Structural flexibility of robotic manipulators becomes significant and limits the performance
of a control system when manipulators are large structures, manipulating on large
payloads, and/or operating at high speeds. ...
Symbolic Modeling of Flexible Manipulators
(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 ...
Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility
(Georgia Institute of Technology, 1990-04)
The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model ...
Transfer functions of flexible beams and implication of flexibilty on controller performance
(Georgia Institute of Technology, 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 ...
Symbolic Modeling of Flexible Robotic Manipulators
(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
(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 ...
Near Optimum Control of Flexible Robot Arms on Fixed Paths
(Georgia Institute of Technology, 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 ...