As specified robotic manipulators have been designed to lift and accurately move small loads, the need for machines with lightweight, low inertia links has been noted. Such designs imply that some structural rigidity must be sacrificed, shifting the mechanical resonance spectrum lower in frequency toward the frequencies of interest to the system controller. These lower resonant frequencies with equal or lower damping cause larger absolute end-effector overshoot, in the absence of compensation schemes. One method employed to regain system performance, the observer-controller, involves implementation of a control law utilizing feedback from estimates of all the states of a model of the link (plant) including those states not directly measurab...
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This f...
Quantitative feedback theory can be used to achieve frequency-domain specifications for the tip of a...
(c) 1990 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for...
As specialized robotic manipulators have been designed to lift and accurately move small loads, the ...
This paper presents an efficient technique to design dynamic feedback control scheme for single-link...
©1985 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for al...
Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to...
Program year: 1996/1997Digitized from print original stored in HDRRobots have contributed a great de...
This paper describes ORNL`s development of an environment for the simulation of robotic manipulators...
©1985 Society of Mechanical EngineersPresented at the 9th Robots Conference, June 2 - 6, 1985, Detro...
Abstract: "This report describes the design and control of a two-joint, two-link flexible arm. Our p...
©1986 ASMETo be presented at 1986 ASME Winter Annual Meeting, December 1986, Annaheim, CA.Most model...
In this thesis, we study the problem of real-time control of a flexible arm. We have investigated te...
The goal of this thesis was to build an experimental test rig for demonstrations on flexible space s...
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This f...
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This f...
Quantitative feedback theory can be used to achieve frequency-domain specifications for the tip of a...
(c) 1990 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for...
As specialized robotic manipulators have been designed to lift and accurately move small loads, the ...
This paper presents an efficient technique to design dynamic feedback control scheme for single-link...
©1985 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for al...
Exact equations of motion of an arm with known parameters were developed and analyzed preparatory to...
Program year: 1996/1997Digitized from print original stored in HDRRobots have contributed a great de...
This paper describes ORNL`s development of an environment for the simulation of robotic manipulators...
©1985 Society of Mechanical EngineersPresented at the 9th Robots Conference, June 2 - 6, 1985, Detro...
Abstract: "This report describes the design and control of a two-joint, two-link flexible arm. Our p...
©1986 ASMETo be presented at 1986 ASME Winter Annual Meeting, December 1986, Annaheim, CA.Most model...
In this thesis, we study the problem of real-time control of a flexible arm. We have investigated te...
The goal of this thesis was to build an experimental test rig for demonstrations on flexible space s...
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This f...
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This f...
Quantitative feedback theory can be used to achieve frequency-domain specifications for the tip of a...
(c) 1990 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for...