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Book,
Wayne J.
Book,
Wayne J.
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ItemNumerical control and automation of quality assurance(Georgia Institute of Technology, 1980) Book, Wayne J. ; Georgia Institute of Technology. Office of Sponsored Programs ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Office of Sponsored Programs
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ItemCombined approaches to lightweight arm utilization(Georgia Institute of Technology, 1985-11) Book, Wayne J. ; Dickerson, Stephen L. ; Hastings, Gordon Greene ; Cetinkunt, Sabri ; Alberts, Thomas Edward ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesIn order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. The bracing strategy is proposed first as one scenario of arm usage. It braces the arm against a passive structure to increase rigidity during fine motions of the end effector. Large motions of the arm require path and trajectory planning. Research on minimum time motions that avoid unnecessarily exciting vibrations is described next. The damping of those vibrations that are excited can be accomplished through a combination of active modal feedback control and passive damping. The enhancement of the damping characteristics of arm structures is described. This is important for stable feedback control with actuators and controllers with limited bandwidth. Analytical and experimental results for constrained layer damping are described. in the context of the control problem. An active modal control has been implimented on a simple one link beam. As higher bandwidth is sought from this physical system deviations from the predicted results were observed. A refinement of the model to include anti-aliasing filter, sample-data, and amplifier effects explains the behavior as explained.
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ItemDecentralized Adaptive Control of Robot Manipulators with Robust Stabilization Design(Georgia Institute of Technology, 1988-06) Yuan, Bau-San ; Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesDue to geometric nonlinearities and complex dynamics, a decentralized technique for adaptive control for multilink robot arms is attractive. Lyapunov-function theory for stability analysis provides an approach to robust stabilization. Each joint of the arm is treated as a component subsystem. The adaptive controller is made locally stable with servo signals including proportional and integral gains. This results in the bound on the dynamical interactions with other subsystems. A nonlinear controller which stabilizes the system with uniform boundedness is used to improve the robustness properties of the overall system. As a result, the robot tracks the reference trajectories with convergence. This strategy makes computation simple and therefore facilitates real-time implementation.
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ItemSymbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints(Georgia Institute of Technology, 1988-05) Cetinkunt, Sabri ; Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesThe 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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ItemIntegrated Modeling, Simulation, and Animation of Rigid Arms and Vehicles through Object-Oriented Programming(Georgia Institute of Technology, 1994-02) Schmitt, Paul Richard ; Hogan, John E. ; Cameron, Jonathan M. ; Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesThis paper describes an object-oriented system, "MBSIM" (MultiBody SIMulator), that models, simulates, and animates the kinematics and dynamics of robotic arms and vehicles. This system creates a three dimensional graphical environment which can be used as a tool in robotic design and control.
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ItemIntegrated Control for Mobile Manipulation for Intelligent Materials Handling(Georgia Institute of Technology, 1992) Arkin, Ronald C. ; Arya, S. ; Book, Wayne J. ; Cameron, Jonathan M. ; Gardner, Warren F. ; Lawton, Daryl T. ; MacKenzie, Douglas Christopher ; Ramanathan, V. ; Son, C. ; Vachtsevanos, George J. ; Ward, Keith Ronald ; Georgia Institute of TechnologyAn integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. Computer vision and other sensor modalities provide the input necessary to cope with materials handling tasks in a partially modeled and dynamic world.
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ItemControl for Two Cooperative Disparate Manipulators(Georgia Institute of Technology, 1991-02) Lew, Jae Young ; Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesThe concept of a small arm mounted on the end of a large arm has been introduced to provide precise motion as well as a large workspace. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, simulation results are presented to show the possibility that the proposed control scheme provides the disparate manipulators with better accuracy than the large arm and more payload capacity than the small arm. In the near future, experimental studies on the existing arrangement (RALF and SAM) are scheduled to verify the feasibility of the proposed concepts.
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ItemWave-based teleoperation with prediction(Georgia Institute of Technology, 2001-06) Munir, Saghir ; Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesWave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a varying time delay, as in the case of Internet-based teleoperation. Although stability is guaranteed for virtually any time delay, performance rapidly degrades for larger delays. In this paper, a predictor derived from a modified Smith predictor along with a Kalman estimator and an energy regulator is used to enhance the performance of a wave-based teleoperator in the presence of a constant delay. Also, the current wave transformation equations are extended to a more general case (better suited for systems with multiple degrees of freedom)
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ItemReconstruction and Robust Reduced-Order Observation of Flexible Variables(Georgia Institute of Technology, 1986-12) Hastings, Gordon Greene ; Book, Wayne J. ; Clemson University. Dept. of Mechanical Engineering ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesMost models intended for real-time control of distributed parameter systems such as flexible manipulators rely on N-modal approximation schemes[l]. Measurements made on flexible systems yield time varying quantities which are linear combinations of the system states. This paper discusses reconstruction and estimation of flexible variables from multiple strain measurements for use in state feedback control of flexible manipulators. Reconstruction is proposed for obtaining flexible mode amplitudes from the measurements, and estimation for the modal velocities. Reduced order observers are briefly reviewed, and then application to flexible manipulators is discussed. Design of the observer for estimation of the velocities is discussed with regard to robust implementation. The performance of the observer is examined experimentally for several specifications of the error dynamics.
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ItemRecursive Lagrangian Dynamics of Flexible Manipulator Arms via Transformation Matrices(Georgia Institute of Technology, 1983-12) Book, Wayne J. ; Georgia Institute of Technology. School of Mechanical Engineering ; Georgia Institute of Technology. Center for Robotics and Intelligent MachinesImproving 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 and space robots and large space manipulators is no exception. Initial simple kinematic and dynamic models are no longer adequate to improve performance in the most critical applications. 130th the mechanical system and control system require improved models for design simulation. Proposed new control algorithms require dynamic models for control calculation. Manning and programming activities as well as man-in-the-loop simulation also require accurate models of the arms. Accuracy is usually acquired at some cost. 'The application of mechanical arms to economically sensitive endeavors in industry and space also gives incentive to improve the efficiency of the formulation and simulation of dynamic models. Control algorithms and man-in-the-loop simulation require "real time" calculation of dynamic behavior. Formulation of the dynamics in an easy to understand conceptual approach is also important if maximum use of the results is to be obtained. The nonlinear equations of motion for flexible manipulator arms consisting of rotary joints connecting two flexible links are developed. Kinematics of both the rotary joint motion and the link deformation are described by 4x4 transformation matrices. The link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes. The resulting equations are presented as scalar and 4x4 matrix operations ready for programming. The efficiency of this formulation is compared to rigid link cases reported in the literature.