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RISA Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new approach to the geometrical representation of manipulator dynamics is presented. The inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended ...
Transferring Manipulative Skills to Robots: Representation and Acquisition of Tool Manipulative Skills Using a Process Dynamics Model
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new method based on task process models for acquiring manipulative skills from human experts is presented. In performing manipulative tasks such as deburring, a human expert moves a tool at ...
Design of Direct-Drive Mechanical Arms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes the design concept of a new robot based on the direct-drive method using rare-earth d-c torque motors. Because these motors have high torque, light weight and compact size, ...
Rapid Recursive Structure Redesign for Improved Dynamics of a Single Link Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes a technique for improving dynamic performance of robots by recursively modifying the mechanical structure through prototyping and experimentation. In each recursion, a prototype ...
Integrated Structure/Control Design of High Speed Flexible Robots Based on Time Optimal Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the integrated structure/control design of high speed single link robots based on time-optimal control and finite element analysis. First, the solutions of a time optimal ...
User-Adaptable Comfort Control for HVAC Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes a new approach to the control of heating, ventilating, and air-conditioning (HVAC) systems. The fundamental concept of the new approach is that the controller learns to ...
Dynamic Analysis of Noncollocated Flexible Arms and Design of Torque Transmission Mechanisms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A new actuation method for one-link flexible arms is presented. The endpoint control of a flexible arm has been known as a nonminimum phase system due to the noncollocated sensor and actuator. ...
Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A concurrent design method of mechanical structure and control is developed for two-link high speed robots. An integrated design approach to achieve high speed positioning is explored, in which ...
The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A manipulator design theory for reduced dynamic complexity is presented. The kinematic structure and mass distribution of a manipulator arm are designed so that the inertia matrix in the equation ...
Analysis and Design of a Direct-Drive Arm With a Five-Bar-Link Parallel Drive Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The direct-drive arm that has no gears between motors and their loads have several important advantages including no backlash, small friction, and high mechanical stiffness. The arm mechanism, ...