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Institute for Robotics and Intelligent Machines (IRIM)

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Start date: 1980 × End date: 1989 × search.filters.applied.f.resourcesubtype: Post-print ×

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Now showing 1 - 7 of 7
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    Symbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints
    (Georgia Institute of Technology, 1988-05) Cetinkunt, Sabri ; Book, Wayne J.
    The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangian-assumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. This allows one to identify the differences between rigid and flexible manipulator dynamics explicitly. Therefore, current knowledge on control of rigid manipulators is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators. Computer automated symbolic expansion of the dynamic model equations for any desired manipulator is accomplished with programs written based on commercial symbolic manipulation programs (SMP, MACSYMA, REDUCE). A two-link manipulator is used as an example. Computational complexity involved in real-time control, using the explicit, non-recusive form of equations, is studied on a single CPU and multi- CPU parallel computation processors.
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    Model Reference Adaptive Control of a One Link Flexible Arm
    (Georgia Institute of Technology, 1986-12) Siciliano, Bruno ; Yuan, Bau-San ; Book, Wayne J.
    Based on a model reference adaptive control approach, a robust controller for a one link flexible arm moving along a pre-defined trajectory is proposed. In order to satisfy the perfect model following conditions, the model is chosen from the linearized model of the system as optimally controlled. The nominal trajectory is commanded to the system by means of a dynamic filter. Simulation results for the prototype in the laboratory show the improvements obtained with the outer adaptive feedback loop with respect to a pure optimal control regulator. Robustness is finally tested by varying the nominal payload mass
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    An integral manifold approach to control of a one link flexible arm
    (Georgia Institute of Technology, 1986-12) Siciliano, Bruno ; Book, Wayne J. ; De Maria, Giuseppe
    The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An integral manifold approach is proposea leading to the derivation of a reduced order system which incorporates the effects of the flexibility distributed along the structure. An approximate technique is finally presented which allows the synthesis of a feedback linearizing control
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    Symbolic modelling and dynamic analysis of flexible manipulators
    (Georgia Institute of Technology, 1986-10) Cetinkunt, Sabri ; Siciliano, Bruno ; Book, Wayne J.
    This paper presents a systematic method to symbolically derive the full nonlinear dynamic equations of motion of Multi-link flexible manipulators. Lagrange's-Assumed Modes method is used for the dynamic modelling and implemented via a commercially available symbolic manipulation program. Adaptation of the method suitable for symbolic manipulation and advantages are discussed. Simulation results for a two-link planar flexible arm presented.
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    University and Industry Cooperation in the Development of a Curriculum for Integrated Manufacturing Systems Engineering
    (Georgia Institute of Technology, 1985-12) Book, Wayne J. ; Haddad, Abraham H. ; Krosner, Stephen P.
    This paper describes the Computer Integrated Manufacturing (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 year recently, and involves a cooperative effort within Georgia Tech among eight Schools, with strong support and interaction with over a dozen industries. The Program is one approach to the problem of educating graduate students in industrially related interdisciplinary topics of major importance.
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    Experiments in optimal control of a flexible arm
    (Georgia Institute of Technology, 1985-06) Hastings, Gordon Greene ; Book, Wayne J.
    Research in the control of flexible arms may offer long term solutions to factory automation problems in applications where high performance, long reach, or mobility is required. This paper discusses the reconstruction of modal quantities from strain gage measurements, and the sensitivity of an optimal controller to variations in payload mass based on analytical models and experiment for a single-link arm.
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    Controlled fluid recirculation for efficient hydraulic actuation of conservative loads
    (Georgia Institute of Technology, 1983-06) Book, Wayne J. ; Punyapas, Noparut
    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 power supply. This paper presents a theoretical, analytical and experimental study of controlled fluid recircultion around an actuator to provide a more energy efficient hydraulic servo system for motion control while retaining the traditional advantages.