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Combined Command Shaping and Inertial Damping for Flexure Control
(Georgia Institute of Technology, 1997-06)
This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the ...
Combining a multirate repetitive learning controller with command shaping for improved flexible manipulator control
(Georgia Institute of Technology, 1999-11)
Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate ...
Artificial neural network control of a nonminimum phase, single-flexible-link
(Georgia Institute of Technology, 1996-04)
A single-link flexible manipulator with a rotary actuator at one end and a mass at the other is modeled using the Lagrangian method coupled with an assumed modes vibration model. A SIMO state space model is developed by ...
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 ...
A Robust Nonlinear Observation Strategy for the Control of Flexible Manipulators
(Georgia Institute of Technology, 2011-05)
Flexibility is often an unavoidable consequence of the desire for high speed and performance manipulators. This paper proposes a method that improves the performance of flexible manipulators through the employment of robust ...
Experimental Study on Micro/Macro Manipulator Vibration Control
(Georgia Institute of Technology, 1996-04)
This work investigates issues related to vibration control in a micro/macro manipulator. This paper provides experimental results obtained by the combination of two dissimilar flexible control techniques to a micro/macro ...
Noise effect on adaptive command shaping methods for flexible manipulator control
(Georgia Institute of Technology, 2001-01)
Since its introduction, the command shaping method to design command shapers as robust as possible based on the has been applied to the control of many types of flexible manipu- available infonnation on a given system ...
A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator
(Georgia Institute of Technology, 1994-06)
A manipulator system with a large workspace volume and high payload capacity
has greater link flexibility than do typical industrial robots and teleoperators. If link
flexibility is significant, position control of the ...
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 ...
Symbolic Modeling of Flexible Manipulators
(Georgia Institute of Technology, 1987-04)
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 ...