Now showing items 1-5 of 5
Obstacle avoidance methods for a passive haptic display
(Georgia Institute of Technology, 2001-07)
An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order ...
Practical models for practical flexible arms
(Georgia Institute of Technology, 2000-04)
A laboratory robot with 3m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response ...
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 ...
Modeling and Control of an Improved Dissipative Passive Haptic Display
(Georgia Institute of Technology, 2004)
This paper investigates the modeling and control of a new dissipative passive haptic display that uses magneto rheological (MR) brakes as actuators. The device is energetically passive, meaning that it can only remove ...
Force reflecting teleoperation with adaptive impedance control
(Georgia Institute of Technology, 2004-02)
Experimentation and a survey of the literature clearly show that contact stability in a force reflecting teleoperation system requires high levels of damping on the master robot. However, excessive damping increases the ...