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A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator
(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 ...
Modeling Design, and Control of Flexible Manipulator Arms: A Tutorial Review
(Georgia Institute of Technology, 1990-12)
High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are ...
On the transfer function modeling of flexible structures with distributed damping
(Georgia Institute of Technology, 1986-12)
The authors have suggested the use of distributed passive damping via constrained viscoelastic layer surface treatments, as a means of augmenting active controllers for flexible structures. This enhances system stability ...
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 1989)
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 ...
Contact Control for Advanced Applications of Light Weight Arms
(Georgia Institute of Technology, 1992)
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 ...
Modeling and Control of Flexible Manipulators
(Georgia Institute of Technology, 1985-06)
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 ...
Experiments in the Control of a Flexible Robot Arm
(Georgia Institute of Technology, 1985-06)
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 ...
Experiments in augmenting active control of a flexible structure with passive damping
(Georgia Institute of Technology, 1986-01)
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 Singular Perturbation Approach to Control of Lightweight Flexible Manipulators
(Georgia Institute of Technology, 1988-08)
The control of lightweight flexible manipulators moving along predefined paths
is the focus of this work. The flexible manipulator dynamics is derived on the
basis of a Lagrangian-assumed modes method. The full order ...
Control for Two Cooperative Disparate Manipulators
(Georgia Institute of Technology, 1991-02)
The concept of a small arm mounted on the end of a large arm has been introduced to provide precise motion as well as a large workspace. However, the performance of such a serial configuration lacks payload capacity which ...