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Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration

Magee, David P.; Book, Wayne John (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 ...

Combined Command Shaping and Inertial Damping for Flexure Control

Magee, David P.; Cannon, David W.; Book, Wayne John (Georgia Institute of Technology, 1997-06)

This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the ...

A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator

Love, Lonnie J.; Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1994-10)

This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the ...

Experimental Study on Micro/Macro Manipulator Vibration Control

Cannon, David W.; Magee, David P.; Lew, Jae Y.; Book, Wayne John (Georgia Institute of Technology, 1996-04)

This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro ...

A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet

Lane, Hobson; Love, Lonnie J.; Magee, David P.; Obergfell, Klaus; Book, Wayne John (Georgia Institute of Technology, 1996-06)

During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through ...

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 Technology, 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 ...

Optimal filtering to minimize the elastic behavior in serial link manipulators

Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1998-06)

This paper presents a new optimal filtering algorithm called the Optimal Arbitrary Time-delay (OAT) filter that has been designed to minimize the elastic behavior in serial link manipulators. However, as the analysis ...

Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion

Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1995-06)

This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation ...

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 ...

Eliminating Multiple Modes of Vibration in a Flexible Manipulator

Magee, David P.; Book, Wayne John (Georgia Institute of Technology, 1993-05)

The flexibility of long reach manipulators presents a difficult control problem when accurate endpoint position is required. To maintain a desired tip trajectory, the residual vibration inherent to flexible systems ...