Steerability is intuitively the ability to change directions. In this paper, a formal definition is given for the steerability of a robot achieved either passively or actively. A dissipative passive robot uses only passive ...

This paper presents the design and operation of a new teleoperation testbed currently under investigation at the Georgia Institute of Technology. This laboratory will enable researchers to investigate a wide range of issues ...

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 ...

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 ...

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 ...

Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems ...

Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an ...

Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is ...

Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit ...

A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...