Now showing items 1-20 of 60

    • Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain 

      Rhim, Sungsoo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-06)
      Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless ...
    • Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 1996-07)
      Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced ...
    • Alternatives in the generation of time domain models of fluid lines using frequency domain techniques 

      Watson, Cody; Book, Wayne John (Georgia Institute of TechnologyElsevier, 2000-10)
      By converting from frequency domain models to time domain models, nonlinear behavior and linear distributed behavior can both be effectively represented. Three methods are presented to convert fluid line models from the ...
    • Alternatives in the generation of time domain models of fluid lines using frequency domain techniques 

      Watson, Cody; Book, Wayne John (Georgia Institute of TechnologyElsevier, 2000-02)
      By converting from frequency domain models to time domain models, nonlinear behavior and linear distributed behavior can both be effectively represented. Three methods are presented to convert fluid line models from the ...
    • Artificial neural network control of a nonminimum phase, single-flexible-link 

      Register, Andrew H.; Alford, Cecil Orie; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      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 ...
    • Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators 

      Opdenbosch, Patrick; Sadegh, Nader; Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      This paper describes a novel auto-calibration state-trajectory-based control method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that ...
    • Blended Shared Control of Zermelo's Navigation Problem 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator. In practice, the operator assumes responsibility for completing a given task at maximum utility, even though the ...
    • Combined Command Shaping and Inertial Damping for Flexure Control 

      Magee, David P.; Cannon, David W.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-06)
      This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the ...
    • Combining a multirate repetitive learning controller with command shaping for improved flexible manipulator control 

      Rhim, Sungsoo; Hu, Ai-Ping; Sadegh, Nader; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1999-11)
      Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate ...
    • Command filtering and path planning for remote manipulation of a long reach flexible robot 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      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 comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator 

      Love, Lonnie J.; Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1994-10)
      This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the ...
    • Compensation for Biodynamic Feedthrough in Backhoe Operation by Cab Vibration Control 

      Humphreys, Heather C.; Huggins, James D.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      This research investigates and seeks to mitigate the undesirable effects of biodynamic feedthrough in backhoe operation. Biodynamic feedthrough occurs when motion of the controlled machine excites motion ...
    • The Concept and Implementation of a Passive Trajectory Enhancing Robot 

      Book, Wayne John; Charles, Robert; Davis, Hurley T.; Gomes, Mario Waldorff (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1996-11)
      A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, ...
    • Contact Stability Analysis of Virtual Walls 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1995-11)
      Haptic interfaces are mechanical systems coupled to humans. These devices provide a method of relaying mechanical information between a human and a computer generated environment. A basic element in any virtual environment ...
    • Control approaches for a dissipative passive trajectory enhancing robot 

      Gomes, Mario Waldorff; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-06)
      A mechanically passive device is described which, when controlled by an appropriate algorithm, restricts the user to move the tip of the device along a specified but arbitrary path. One advantage of such a device is safety ...
    • Control concepts for digital clay 

      Zhu, Haihong; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 2003-09)
      Digital Clay is a new generation of 3D computer input and output device for surface shape. Its three control levels are introduced in this paper. The device consists of arrays of fluidically actuated cells under the control ...
    • Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation 

      Munir, Saghir; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2003-06)
      This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications it is required that the control loop be closed around a time delayed network. Although various researchers ...
    • Controlled fluid recirculation for efficient hydraulic actuation of conservative loads 

      Book, Wayne John; Punyapas, Noparut (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1983-06)
      Hydraulic actuators have traditionally found application in servo systems requiring high bandwidth, high power per unit mass, and permitting low overall energy efficiency, the presence of hydraulic oil, and a rather bulky ...
    • Design and Control of a Multiple Degree of Freedom Haptic Interface 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1994-11)
      The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into a wide spectrum of tasks that directly link human and machine. Haptic interfaces are robots that are ...
    • Environment Estimation for Enhanced Impedance Control 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1995-05)
      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. ...