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Book, Wayne J.

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Author: Dickerson, Stephen L. × Has files: No ×

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    Experiments in augmenting active control of a flexible structure with passive damping
    (Georgia Institute of Technology, 1986-01) Alberts, Thomas Edward ; Book, Wayne J. ; Dickerson, Stephen L.
    Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit the order of the system model and controller may lead to problems associated with spill over and modeling uncertainty. In many cases it is possible to augment active controllers using passive vibration control measures thereby relaxing the burden of active control. In this paper we discuss the results of an experimental investigation of using this highly practical scheme. The experimental system under consideration is a flexible arm that rotates in the horizontal plane when driven at its pinned end by a DC torque motor. Passive dampening is s provided by a constrained viscoelastic layer damping treatment. Experiments were performed to demonstrate the stabilizing effect of the damping treatment on a system using modal feedback and one using only colocated control. A root locus analysis of the colocated system substantiates the experimental results.
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    Modeling and Control of Flexible Manipulators
    (Georgia Institute of Technology, 1985-06) Alberts, Thomas Edward ; Dickerson, Stephen L. ; Book, Wayne J.
    Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an overview of current research activity in this area at Georgia Institute of Technology is presented. A straight forward method of modeling a simple single-link arm is included as an example. A scheme by which the first modes of vibration are actively controlled while higher modes are controlled/passively using a constrained viscoelastic layer treatment is described.