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Book, Wayne J.

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    Speed Control and Position Estimation of Small Hydraulic Cylinders for Digital Clay Using PWM Method
    (Georgia Institute of Technology, 2004-07) Zhu, Haihong ; Book, Wayne J.
    Digital Clay is a new generation 3D computer input and output device for surface shape and haptic effects. The device consists of arrays of fluidically actuated cells under the control of valves connected to two pressure reservoirs in a manner ultimately suitable to an implementation in MEMS technology. At the current stage, it is very difficult to implement a tiny position sensor into the tiny cell. This paper presents a control method for the speed and position estimation and control for the cells of digital clay only using low cost pressure sensors and without using any position-sensing device.
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    Time-Delay Command Shaping Filters: Robust and/or Adaptive
    (Georgia Institute of Technology, 1999-09) Book, Wayne J. ; Magee, David P. ; Rhim, Sungsoo
    Time-delay command shaping filters for reducing the vibrational response of flexible systems are introduced and discussed. Special attention is given to the role played by robustness and adaptation in producing effective filters even when system parameters change. Results from several authors are used to compare and contrast these approaches.
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    Control of flexible manipulators using vision and modal feedback
    (Georgia Institute of Technology, 1999-05) Obergfell, Klaus ; Book, Wayne J.
    Literature for end point measurement and control is reviewed. An integrated vision sensor for tip position and an optical deflection sensor are incorporated into the control of a hydraulically actuated, flexible two-link manipulator arm. Analysis and experiments provide a design procedure and performance evaluation. The design procedure is based on successive loop closure and the use of output feedback modified to maintain stability. Point to point positioning performance is improved over alternative controllers.
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    An investigation of a passively controlled haptic interface
    (Georgia Institute of Technology, 1997) Davis, Hurley T. ; Book, Wayne J.
    Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays presents a certain amount of risk since they· are capable of providing unacceptable levels of energy to the systems upon which they operate. An alternative to providing numerous safeguards is to remove the sources of risk altogether. This research investigates the feasibility of trajectory control using passive devices, that is, devices that cannot add energy to the system. Passive actuators are capable only of removing energy from the system or transferring energy within the system. It is proposed that the utility of passive devices is greatly enhanced by the use of redundant actuators. In a passive system, once motion is provided to the system, presumably by a human user, passive devices may be able to modify this motion to achieve a desired resultant trajectory. A mechanically passive, 2-Degree-of Freedom (D.O.F.) manipulator has been designed and built. It is equipped with four passive actuators: two electromagnetic brakes and two electromagnetic clutches. This paper gives a review of the literature on passive robotics and describes the experimental test bed used in this research. Several control algorithms are investigated, resulting in the formulation of a passive control law. Several issues specific to controlling passive and/or redundantly actuated mechanisms are presented, and an algorithm for transforming general (active) controller commands into an appropriate set of passive actuator commands is presented. This algorithm capitalizes on the overlapping capabilities of the actuators and the enhanced control capabilities they provide for a passive device.
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    A Teleoperation Testbed for Nuclear Waste Restoration
    (Georgia Institute of Technology, 1994-08) Book, Wayne J. ; Love, Lonnie J. ; Farah, Michel
    This paper presents the design and operation of a new teleoperation testbed currently under investigation at the Georgia Institute of Technology. This laboratory will enable researchers to investigate a wide range of issues concerning nuclear waste restoration. The focus of the project is to determine what factors effect the performance of human interaction in teleoperation. These factors include an investigation of various robot control algorithms, the effect of unilateral and bilateral information flow, the role of compliance oflong reach arms in teleoperation, and the influence of various queues in training and performance. Experiments and preliminary results concentrating on the significance of audible sounds in teleoperation are presented.
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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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    Experiments in the Control of a Flexible Robot Arm
    (Georgia Institute of Technology, 1985-06) Hastings, Gordon Greene ; Book, Wayne J.
    Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is outlined and an optimal control system is discussed. Reconstruction of flexible modes is accomplished using strain gage data. Velocity of flexible modes is estimated with a reduced order observer. Experimental data is presented to verify dynamic modeling and modal reconstruction. Initial results using a deterministic optimal controller are presented.
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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.
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    Recursive Lagrangian Dynamics of Flexible Manipulators
    (Georgia Institute of Technology, 1984-09) Book, Wayne J.
    Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described by 4 X 4 trans formation 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 pre sented as scalar and 4 X 4 matrix operations ready for pro gramming. The efficiency of this formulation is compared to rigid-link cases reported in the literature.
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    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.