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Alternative Modeling and Verification Techniques for a Large Flexible Arm
(Georgia Institute of Technology, 1987-06)
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 Modelling and Dynamic Analysis of Flexible Manipulators
(Georgia Institute of Technology, 1986)
This paper presents a systematic method
to symbolically derive the full nonlinear dynamic
equations of motion of Multi-link flexible
manipulators. Lagrange's-Assumed Modes method is
used for the dynamic modelling and ...
A linear dynamic model for flexible robotic manipulators
(Georgia Institute of Technology, 1987-02)
The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...
Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators
(Georgia Institute of Technology, 1990)
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. ...
Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator
(Georgia Institute of Technology, 1991-12)
When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different ...
Control and Applications of Cooperating Disparate Manipulators Relevant to Nuclear Waste Management
(Georgia Institute of Technology, 1990)
Performance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility
(Georgia Institute of Technology, 1990-04)
The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model ...
The Application of Input Shaping to a System With Varying Parameters
(Georgia Institute of Technology, 1992)
The original input shaping technique developed by Singer and Seering is summarized and
a different definition for residual vibration is proposed. The new definition gives better insight
into the ability of input shaping ...
Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
(Georgia Institute of Technology, 1988-05)
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant
links and joints are developed based on Lagrangian-assumed modes formulation. This form
of dynamic model is suitable ...