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Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration
(Georgia Institute of Technology, 2002-06)
The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small ...
Experiments Relating Task and Manipulator Characteristics to Performance
(Georgia Institute of Technology, 1977-09)
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 ...
Optimizing Point to Point Motion of Net Velocity Constrained Manipulators
(Georgia Institute of Technology, 2010-12)
The architecture of many hydraulic manipulators, such as excavators common in the earthmoving industry, have constraints on the net sum of actuator speeds. This paper gives the necessary conditions for minimum-time velocity ...
A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet
(Georgia Institute of Technology, 1996-06)
During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through ...
Analysis of poles and zeros for tapered link designs
(Georgia Institute of Technology, 2003)
This chapter analyzes the pole and zero locations of a linearly-tapered Euler-Bernoulli beam pinned at one end and free at the other end. Of particular interest is the location of zeros of the transfer function from torque ...
Design strategies for high-speed lightweight robots
(Georgia Institute of Technology, 1986-09)
Industrial robots today can lift objects no. heavier than about five percent of their own weight. Imagine a robotic weight lifter competing against the current Olympic human record of 750 lb. By today's standards, that ...
Theory and practice of robots and manipulators
(Georgia Institute of Technology, 1977)
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 ...
Time-Delay Command Shaping Filters: Robust and/or Adaptive
(Georgia Institute of Technology, 1999-09)
Time-delay command shaping filters for reducing the vibrational response of flexible systems are introduced and discussed. Special attention is given to the role played by robustness and adaptation in producing effective ...
Models of Manipulators and Manipulation
(Georgia Institute of Technology, 1978-02)
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 ...
Optimum control of flexible robot arms on fixed paths
(Georgia Institute of Technology, 1985-05)
Productivity of the industrial robots are directly related to the speed of the task execution. The speed of the robots can be drastically improved by using better control algorithms and reducing the weight of the manipulator. ...