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 ...

Improving the performance of most engineering systems requires the ability to model the system’s behavior with improved accuracy. The evolution of the mechanical arm from teleoperator and crane to present day industrial ...

The nature of robotic arms invites vibratory behavior while the function of robotic arms is heavily penalized by that vibration. Consequently, understanding and compensating for the tendencies of a robot to vibrate are of ...

Design studies in progress on a special purpose robot are described. The robot is to be used for ultrasonic inspection of extruded and forged parts immersed in water in a large tank. The studies focus on establishing the ...

Impedance control is a popular method of controlling the dynamic response a robot has to external forces. The advantage of such a control paradigm is the ability to manipulate in both unconstrained and constrained environments. ...

We focus on the fusion of autonomous and teleoperated commands. This combination provides full use of the robot's workspace without requiring large motion amplification between a master and slave robot. Combining autonomous ...

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 ...