Now showing items 1-20 of 1398

    • Design and Control Considerations for Industrial and Space Manipulators 

      Whitney, Daniel E.; Book, Wayne John; Lynch, Paul M. (Georgia Institute of TechnologyAmerican Automatic Control Council, 1974-06)
      This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task ...
    • Feedback control of two beam, two joint systems with distributed flexibility 

      Book, Wayne John; Maizza-Neto, O.; Whitney, D. E. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1975-12)
      The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with ...
    • Dynamic analysis of a class of mixed lumped-distributed parameter systems via numerical techniques 

      Book, Wayne John (Georgia Institute of TechnologyAmerican Automatic Control Council, 1976-07)
      The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system’s dynamic response via numerical methods ...
    • Theory and practice of robots and manipulators 

      Book, Wayne John (Georgia Institute of TechnologyElsevier, 1977)
      The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a ...
    • Experiments Relating Task and Manipulator Characteristics to Performance 

      Book, Wayne John; Field, Lawrence (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1977-09)
      A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be ...
    • Models of Manipulators and Manipulation 

      Book, Wayne John (Georgia Institute of TechnologyUniversity of Florida, 1978-02)
      As a complex and expensive mechanical system, a manipulator, whether commanded by man or computer, is often better studied by and developed from a mathematical model of the system than by direct observation. Furthermore ...
    • Analysis of massless elastic chains with servo controlled joints 

      Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1978-12)
      The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...
    • A Microprocessor controlled robotic exercise machine for athletics and rehabilitation 

      Book, Wayne John; Ruis, David A.; Polhemus, Russell (Georgia Institute of TechnologyAmerican Automatic Control Council, 1979-06)
      The need for an improved resistance training exercise machine is documented and the microcomputer controlled Robotic Exercise Machine is proposed as the answer to that need. A description of the mechanical and electrical ...
    • Analysis of massless elastic chains with servo controlled joints 

      Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1979-09)
      The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...
    • Master-Slave Manipulator Performance for Various Dynamic Characteristics and Positioning Task Parameters 

      Book, Wayne John; Hannema, Dirk (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1980-11)
      The performance of manually operated remote manipulators is limited by friction, tolerance of mating parts, limited speed of response, and other unavoidable factors which affect dynamic behavior. A review of the literature ...
    • Robotic exercise machine and method. United States Patent 4,235,437. 

      Ruis, David A.; Polhemus, Russell W.; Book, Wayne John (Georgia Institute of TechnologyUnited States Patent and Trade Office, 1980-11)
      An automatically controlled exercise machine which is intended to produce optimal development of skeletal muscle strength for athletic purposes and in physical rehabilitation. The mechanical configuration of this machine ...
    • A Comparison of Natural Frequency Methods for Flexible Manipulator Arms 

      Book, Wayne John; Majette, Mark (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1980-11)
      Predictions of natural frequencies of flexible manipulator arms as performed by alternative structural models and computer implementations are compared. The Space Shuttle Remote Manipulator System (RMS) manipulator arm is ...
    • Control of a Robotic Exercise Machine 

      Book, Wayne John; Ruis, David A. (Georgia Institute of TechnologyAmerican Automatic Control Council, 1981-06)
      Exercise devices provide a means of resisting user applied forces for purposes of improving physical performance. The characteristics of the device include its path of motion and the functional relationship between applied ...
    • Design studies on a robotic device for ultrasonic inspection 

      Sangveraphunsiri, Viboon; Book, Wayne John (Georgia Institute of TechnologyElsevier, 1981-09)
      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 ...
    • 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 ...
    • An approach to the minimum time control of a simple flexible arm 

      Book, Wayne John; Sangveraphunsiri, Viboon (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1983-11)
      To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. ...
    • Controller Design for Flexible Distributed Parameter Mechanical Arms via Combined State Space and Frequency Domain Techniques 

      Book, Wayne John; Majette, Mark (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1983-12)
      The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this ...
    • Recursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices 

      Book, Wayne John (Georgia Institute of TechnologyRobotics Institute, Carnegie Mellon University, 1983-12)
      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 ...
    • New Concepts in Lightweight Arms 

      Book, Wayne John (Georgia Institute of TechnologyMIT Press, 1984)
      The conflict in designing a robot which is fast for large motions and small motions as well as accurate can be alleviated by strategies of operation such as the one described in this paper, called the bracing strategy. ...
    • Considerations in Selection of DC Motors for Lightweight Arms 

      Sangveraphunsiri, Viboon; Book, Wayne John; Dickerson, Stephen L. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1984-06)
      This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute ...