Experimental Verification of a Large Flexible Manipulator

Lee, Jae Won; Huggins, James D.

Title:

Experimental Verification of a Large Flexible Manipulator

dc.contributor.author	Lee, Jae Won
dc.contributor.author	Huggins, James D.
dc.contributor.corporatename	Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned	2011-06-01T20:10:20Z
dc.date.available	2011-06-01T20:10:20Z
dc.date.issued	1988-06
dc.description	From Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, Georgia, pp 1021-1028.	en_US
dc.description.abstract	A large experimental lightweight manipulator would be useful for material handling, for welding, or for ultrasonic inspection of a large structure such as an airframe. The flexible parallel link mechanism is designed for high rigidity without increasing weight. This constrained system is analyzed by singular value decomposition of the constraint Jacobian matrix. This paper presents a verification of the modeling using the assumed mode method. Eigenvalues and eigenvectors of the linearized model are compared to the measured system natural frequencies and their associated mode shapes. The modeling results for large motions are compared to the time response data from the experiments. The hydraulic actuator are also verified.	en_US
dc.identifier.citation	Lee, Jae Won, J.D. Huggins and W.J. Book, "Experimental Verification of a Large Flexible Manipulator," Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, GA, pp. 1021-1028.	en_US
dc.identifier.uri	http://hdl.handle.net/1853/39039
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	American Automatic Control Council
dc.subject	Flexible manipulators	en_US
dc.subject	Parallel mechanisms	en_US
dc.title	Experimental Verification of a Large Flexible Manipulator	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.corporatename	George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename	College of Engineering
local.contributor.corporatename	Institute for Robotics and Intelligent Machines (IRIM)
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