Title:
Combined approaches to lightweight arm utilization
Combined approaches to lightweight arm utilization
| dc.contributor.author | Book, Wayne J. | en_US |
| dc.contributor.author | Dickerson, Stephen L. | en_US |
| dc.contributor.author | Hastings, Gordon Greene | en_US |
| dc.contributor.author | Cetinkunt, Sabri | en_US |
| dc.contributor.author | Alberts, Thomas Edward | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2011-06-13T20:11:49Z | |
| dc.date.available | 2011-06-13T20:11:49Z | |
| dc.date.issued | 1985-11 | |
| dc.description | © 1985 ASME | en_US |
| dc.description | Presented at the 1985 ASME Winter Annual Meeting, November 17-22, 1985. | en_US |
| dc.description.abstract | In order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. The bracing strategy is proposed first as one scenario of arm usage. It braces the arm against a passive structure to increase rigidity during fine motions of the end effector. Large motions of the arm require path and trajectory planning. Research on minimum time motions that avoid unnecessarily exciting vibrations is described next. The damping of those vibrations that are excited can be accomplished through a combination of active modal feedback control and passive damping. The enhancement of the damping characteristics of arm structures is described. This is important for stable feedback control with actuators and controllers with limited bandwidth. Analytical and experimental results for constrained layer damping are described. in the context of the control problem. An active modal control has been implimented on a simple one link beam. As higher bandwidth is sought from this physical system deviations from the predicted results were observed. A refinement of the model to include anti-aliasing filter, sample-data, and amplifier effects explains the behavior as explained. | en_US |
| dc.identifier.citation | Book, Wayne, Steve Dickerson, Gordon Hastings, Sabri Cetinkunt, and Tom Alberts, "Combined Approaches to Lightweight Arm Utilization," presented at 1985 ASME Winter Annual Meeting. Published in Robotics and Manufacturing Automation, Max Donath and Ming Leu (eds.), November 17-22, 1985, pp. 97-107. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/39103 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | American Society of Mechanical Engineers | en_US |
| dc.subject | Lightweight manipulator arms | en_US |
| dc.subject | Bracing strategies | en_US |
| dc.subject | Trajectory planning | en_US |
| dc.subject | Minimum time motions | en_US |
| dc.title | Combined approaches to lightweight arm utilization | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Book, Wayne J. | |
| 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) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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