Person:

Book, Wayne J.

Permanent Link

https://hdl.handle.net/1853/71109

Associated Organization(s)

Organizational Unit

George W. Woodruff School of Mechanical Engineering

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Now showing 1 - 10 of 10

Analysis of massless elastic chains with servo controlled joints

(Georgia Institute of Technology, 1979-09) Book, Wayne J.

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 the deflection of elastic elements under load. This approach is used to develop the linear equations of spatial motion for a system of two rigid masses connected by a chain with an arbitrary number of massless beams and controlled joint rotations.
A Microprocessor controlled robotic exercise machine for athletics and rehabilitation

(Georgia Institute of Technology, 1979-06) Book, Wayne J. ; Ruis, David A. ; Polhemus, Russell

The need for an improved resistance training exercise machine is documented and the microcomputer controlled Robotic Exercise Machine is proposed as the answer to that need. A description of the mechanical and electrical hardware and the control software is given. The control algorithms which provide for path and force teaching and velocity command generation are discussed. The safety features of the machine are explained.
Analysis of massless elastic chains with servo controlled joints

(Georgia Institute of Technology, 1978-12) Book, Wayne J.

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 the deflection of elastic elements under load. This approach is used to develop the linear equations of spatial motion for a system of two rigid masses connected by a chain with an arbitrary number of massless beams and controlled joint rotations.
Models of Manipulators and Manipulation

(Georgia Institute of Technology, 1978-02) Book, Wayne J.

As a complex and expensive mechanical system, a manipulator, whether commanded by man or computer, is often better studied by and developed from a mathematical model of the system than by direct observation. Furthermore if we can build such a model of a system we have demonstrated our understanding of that system. The better our understanding, the more accurate and simple the model tends to be. This circular process of "understand a system to build a model to understand the system" is a basis, of progress in the natural sciences. In dynamic models of manipulators a fundamental feature is the compliance and mass of the components, modeled adequately in the most basic sense by Newton's laws of motion and Hooke's law for elastic deformation. Yet the understanding to build simple models, models simple enough to understand, does not exist. More critically the model of how the performance of manipulation is related to the mechanical performance of the manipulator does not exist, not at the basic level of Newton’s laws, nor at an empirical level based on more than twenty-five years of direct observation. The state of the art, its direction, and its preferred direction must be described, from an individual's perspective. The perspective here is of one who has been involved for several years in seeking understanding for modeling (MIT Department of Mechanical Engineering [1, 2, 3]) and in building models for understanding (research fellow NASA Johnson Space Center [4] and a current project at the Georgia Institute of Technology to design and build a planar experimental manipulator).
Experiments Relating Task and Manipulator Characteristics to Performance

(Georgia Institute of Technology, 1977-09) Book, Wayne J. ; Field, Lawrence

A review of literature shows that little progress has been made towards quantifying the manipulator characteristics necessary to provide a given performance at a given task. Controlled single factor experiments can be performed by simulating the characteristics of interest and inserting them into the dynamics via the joint control system. Backlash, Coulomb friction, and many other important effects can be studied in this manner. The authors' research utilizes an experimental electric arm controlled by microprocessor, which is described below. In'the twenty-five or so years that remcrt~ manipulation devices have ·been in use, various authors have described qualitatively the characteristics of a good manipulator. The manually controlled manipulator has evolved into the computer controlled manipulator, but the desirable characteristics are still only' described qualitatively. The research underway in the School of Mechanical Engineering at Georgia Tech is attempting to quantify the relationship between manipulator characteristics and manipulator performance for a specific task, and to gain insight into the basic nature of manipulation.
Theory and practice of robots and manipulators

(Georgia Institute of Technology, 1977) Book, Wayne J.

The restrictions imposed on arm performance by strength and stiffness, constraints are characterized as limitations on the gross and fine motion speeds, respectively. The implications of the constraints are explored for a simplified manipulator. When stiffness requirements dominate gross motion speed may be traded for fine motion speed, indicating an optimal ratio of the two may exist. To improve performance in both areas, improved fine motion control is valuable. Arm specifications: payload mass and acceleration, arm length, and gravity forces; technological factors: allowable stress, elastic modulus, and control algorithm capability; and geometry are related to the tradeoff by a power law.
Dynamic analysis of a class of mixed lumped-distributed parameter systems via numerical techniques

(Georgia Institute of Technology, 1976-07) Book, Wayne J.

The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system’s dynamic response via numerical methods is presented. These methods utilize numerical searches in the complex plane for the roots of the transcendental characteristic equation to determine the closed loop system eigen values. The fast Fourier transform (FFT) algorithm is utilized but in the inverse fashion (from frequency domain to time domain). The information obtained is identical to that contained in a model in modal coordinates, and can be used to construct such a model. An interactive computer program to do the required calculations is described, as well as its application to' a manipulator arm design problem
Feedback control of two beam, two joint systems with distributed flexibility

(Georgia Institute of Technology, 1975-12) Book, Wayne J. ; Maizza-Neto, O. ; Whitney, D. E.

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 (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.
Design and Control Considerations for Industrial and Space Manipulators

(Georgia Institute of Technology, 1974-06) Whitney, Daniel E. ; Book, Wayne J. ; Lynch, Paul M.

This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.
Instructional scientific equipment

(Georgia Institute of Technology, 1974) Book, Wayne J.