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Book,
Wayne J.
Book,
Wayne J.
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ItemTransfer functions of flexible beams and implication of flexibilty on controller performance(Georgia Institute of Technology, 1994) Cetinkunt, Sabri ; Book, Wayne J.Dynamic behavior of many mechanical motion systems having distributed flexibility are described by linear partial differential equations, i.e. flexible beams, satellite appendages, plates. Understanding the open loop transfer function (poles, zeros, d.c. gain) is a prerequisite for a successful controller design. The open loop pole-zero patterns of a flexible beam (using its infinite dimensional model) are studied as a function of actuator and sensor locations. The physics of the flexible beam dynamics is discussed in order to explain the physical source and the meaning of zeros, and its implications in terms, of the limitations imposed on the maximum closed loop bandwidth achievable. Although the actual system dynamics involve an infinite number of modes, finite dimensional models are needed for the design of a real time controller. The accuracy of finite dimensional models using different mode shapes are compared from a controller design point of view.
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ItemPerformance Limitations of Joint Variable Feedback Controllers Due to Manipulator Structural Flexibility(Georgia Institute of Technology, 1990-04) Cetinkunt, Sabri ; Book, Wayne J.The performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link, two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.
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ItemFlexibility Effects on the Control System Performance of Large Scale Robotic Manipulators(Georgia Institute of Technology, 1990) Cetinkunt, Sabri ; Book, Wayne J.Structural flexibility of robotic manipulators becomes significant and limits the performance of a control system when manipulators are large structures, manipulating on large payloads, and/or operating at high speeds. The question of when a manipulator can be considered rigid or must be considered flexible is studied as a function of manipulator dynamics and task characteristics. Results are interpreted in simple quantitative forms which can be used as design and analysis tools to decide whether or not the manipulator flexibility will be a significant factor for a given task condition. The limitations imposed by the manipulator flexibility on the joint variable feedback control system performance is determined using linear and nonlinear methods. The closed loop eigenstructure behavior of finite dimensional models under joint variable feedback is studied and results are compared with the previously reported results.
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ItemSymbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints(Georgia Institute of Technology, 1989) 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 a Lagrangian-assumed mode of 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 is 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-recursive form of equations, is studied on single CPU and multi-CPU parallel computation processors.
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ItemPerformance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations(Georgia Institute of Technology, 1988-06) Cetinkunt, Sabri ; Book, Wayne J.The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. Fine motion analysis results agree very well with the previously reported results based on infinite dimensional frequency domain models. The limitations of a class of adaptive controllers in high speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.
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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.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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ItemSymbolic Modeling of Flexible Manipulators(Georgia Institute of Technology, 1987-04) Cetinkunt, Sabri ; Book, Wayne J.This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.
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ItemSymbolic Modeling of Flexible Robotic Manipulators(Georgia Institute of Technology, 1987-04) Book, Wayne J. ; Cetinkunt, SabriThis paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange's-assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. The advantages of obtaining dynamic equations in symbolic form and of the presented algorithm are discussed. Application of the algorithm to a two-link flexible arm example via a commercially available symbolic manipulation program is presented. Simulation results are given and discussed.
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ItemSymbolic 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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ItemSymbolic Modelling and Dynamic Analysis of Flexible Manipulators(Georgia Institute of Technology, 1986) 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.