To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. ...

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. ...

Hydraulic actuators have traditionally found application in servo systems requiring high bandwidth, high power per unit mass, and permitting low overall energy efficiency, the presence of hydraulic oil, and a rather bulky ...

Research in the control of flexible arms may offer long term solutions to factory automation problems in applications where high performance, long reach, or mobility is required. This paper discusses the reconstruction of ...

This paper describes the Computer Integrated Manufacturing Systems (CIMS) Program at the Georgia Institute of Technology, which was established with the help of a grant from the IBM Corporation. The program began its third ...

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 ...

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 ...

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 ...