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 ...

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 ...

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 ...

This paper presents an end-point position measurement method for long-reach flexible manipulators using a landmark tracking system (LTS). The LTS is based on a computer vision system designed for the tracking of retro ...

Literature for end point measurement and control is reviewed. An integrated vision sensor for tip position and an optical deflection sensor are incorporated into the control of a hydraulically actuated, flexible two-link ...

This paper describes the design, testing and evaluation of a position measurement system for a large flexible manipulator. Previous work is reviewed and updated with a discussion of related sensors and their applicability. ...

A Landmark Tracking System (LTS) is used for vision-based end-point position measurements of a large two-link flexible manipulator. Sampling time and repeatability of the LTS were investigated. Feedback of the end-point ...

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 ...