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Combined approaches to lightweight arm utilization
(Georgia Institute of Technology, 1985-11)
In order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. ...
Experiments in Optimal Control of a Flexible Arm with Passive Damping
(Georgia Institute of Technology, 1985-06)
This paper presents a hybrid active and passive control scheme for control ling the motion of a lightweight flexible arm. A straightforward development of LaGrange's equations using a series expansion of assumed flexible ...
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 ...