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RISAnalysis of Massless Elastic Chains With Servo Controlled Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4 × 4 coordinate ...
A Perspective on Robotics Research and This Issue
Publisher: The American Society of Mechanical Engineers (ASME)
Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then ...
Dynamics of Flexible Manipulator Arms: Alternative Derivation, Verification, and Characteristics for Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work seeks to provide an effective way for developing the dynamics of a multi-link flexible manipulator consisting of rotary joints connecting two links. Kinematics of both the rotary joint ...
Feedback Control of Two Beam, Two Joint Systems With Distributed Flexibility
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint ...