A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be ...

The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...

The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with ...

The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a ...

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task ...

The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...

As a complex and expensive mechanical system, a manipulator, whether commanded by man or computer, is often better studied by and developed from a mathematical model of the system than by direct observation. Furthermore ...

The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system’s dynamic response via numerical methods ...

The need for an improved resistance training exercise machine is documented and the microcomputer controlled Robotic Exercise Machine is proposed as the answer to that need. A description of the mechanical and electrical ...