Now showing items 1-20 of 31

    • 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 ...
    • 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 ...
    • Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators 

      Siciliano, Bruno; Book, Wayne John (Georgia Institute of Technology, 1986)
      The control problem for robotic manipulators with flexible links is considered in this paper. The dynamic equations of motion can be derived by means of a recently developed Lagrangian-assumed modes method. In the case ...
    • Contact Control for Advanced Applications of Light Weight Arms 

      Book, Wayne John; Kwon, Dong-Soo (Georgia Institute of TechnologyKluwer Academic Publishers, 1992)
      Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems ...
    • 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 Motion in an Elastic World 

      Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1993-03)
      The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the ...
    • 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 ...
    • Convolution Analysis of Milling Force Pulsation 

      Wang, J.-J. Junz; Liang, Steven Y.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1994-02)
      This paper presents the establishment of a closed form expression for the dynamic forces as explicit functions of cutting parameters and tool/workpiece geometry in milling processes. Based on the existing local cutting ...
    • Decentralized Adaptive Control of a Two Degree of Freedom Flexible Arm 

      Yuan, Bau-San; Book, Wayne John; Huggins, J. D. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1989-12)
      A robust adaptive control is derived by signal-synthesis methods for a light, flexible two degree-of-freedom manipulator. The controller for each joint is decentralized, using measurements of one joint's position as ...
    • Design strategies for high-speed lightweight robots 

      Book, Wayne John; Hastings, Gordon Greene; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 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 ...
    • Development of a Curriculum for Integrated Manufacturing Systems Engineering 

      Book, Wayne John; Krosner, Stephen P.; Haddad, Abraham H. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      This paper describes the Computer Integrated Manufacturing Systems (CIMS) Program at the Georgia Institute of Technology, which was established with the help of a grant from the IBM Corporation. The program began its third ...
    • Direct Adaptive Control of a One-Link Flexible Arm with Tracking 

      Yuan, Bau-San; Book, Wayne John; Siciliano, Bruno (Georgia Institute of TechnologyJohn Wiley & Sons, Inc., 1989)
      A robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally ...
    • Dynamics of Flexible Manipulator Arms: Alternative Derivation, Verification, and Characteristics for Control 

      Yuan, B. - S.; Book, Wayne John; Huggins, J. D. (Georgia Institute of TechnologyThe American Society of Mechanical Engineers, 1993-09)
      This work seeks to provide an effective way for developing the dynamics of a multi-link flexible manipulator consisting of rotary joints connecting two links. Kinematics of both the rotary joint motion and the link deformation ...
    • Experimental Investigations of the Effects of Cutting Angle on Chattering of a Flexible Manipulator 

      Lew, J.; Huggins, J.; Magee, D.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1991-12)
      When a machine tool is mounted at the tip of a robotic manipulator, the manipulator becomes more flexible (the natural frequencies are lowered). Moreover, for a given flexible manipulator, its compliance will be different ...
    • 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 ...
    • Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators 

      Cetinkunt, Sabri; Book, Wayne John (Georgia Institute of TechnologyAmerican Astronautical Society, 1990)
      Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. ...
    • Force reflecting teleoperation with adaptive impedance control 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Inertial Vibration Damping of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyJapan Society of Mechanical Engineers, 2003)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid ...
    • Internet Based Teleoperation using Wave Variables with Prediction 

      Munir, Saghir; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2002-06)
      Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and ...
    • A linear dynamic model for flexible robotic manipulators 

      Hastings, Gordon Greene; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1987-02)
      The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...