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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

Modeling and dynamic simulation of a closed chain free-floating planar manipulator

Shelly, Michael Patrick. January 1992 (has links)
Thesis (M.S.)--Ohio University, March, 1992. / Title from PDF t.p.

Teleoperation of mechanical manipulators aboard the US space station

Pan, Ya-Dung, 1960- January 1987 (has links)
This study presents a new analytical controller design strategy for the teleoperation of mechanical manipulators aboard the U.S. space station. This controller design strategy emphasizes on the stability of a closed-loop control system involving time delay. Simplified dynamic equations of the Stanford arm are considered as the manipulator model. A local linearizing and decoupling control algorithm is applied to linearize and decouple the dynamic equations. Once the linear form of the manipulator is obtained, a model prediction control loop is constructed and implemented as a digital controller to provide the predictive states information, and a particular model reduction method is applied to yield a reduced-order digital controller. This reduced-order digital controller is a highly self-tuned controller which can control the closed-loop system with time delay by following a specified performance.

Dynamics and control of a rigid/flexible manipulator

Yeh, Chun-tien 01 April 1992 (has links)
Control of high-speed, light-weight robotic manipulators is a challenge because of their special dynamic characteristics. In this work, a two-stage control algorithm for the position control of flexible manipulators is proposed. First, the more complex, flexible robot system is replaced by a simplified hypothetical rigid body system (HRRA) with off-line trajectory planning. This reduces the complexity of the controller design for the flexible robotic arm. A parameter-optimization approach was adopted to minimize the difference between these two models in this stage. Also, a comparison of computational efficiency is made among the methods of calculus-of-variations, dynamic-programming, and the proposed parameter-optimization. At the second stage, simple linear state feedback controllers, based on the simplified hypothetical rigid body model, are proposed to control the actual robotic system. With the feedback gains selected properly by the pole-placement and linear quadratic methods, the results show satisfactory achievement of the motion objectives. The algorithm is implemented for a two-link rigid/flexible robotic arm, and the results indicate that the procedure is capable of providing effective control with much simpler computational requirements than those of procedures published previously. / Graduation date: 1992

Design and control principles for flexible manipulator arms using active and passive control

Lane, Jeffrey Scott 05 1900 (has links)
No description available.

The design of a planar acting manipulator and its control

Field, Lawrence Elliot 05 1900 (has links)
No description available.

Controlling flexible manipulators, an experimental investigation

Hastings, Gordon Greene 08 1900 (has links)
No description available.

Digital control for flexible manipulator arms

Tahboub, Karim Abdul Majid 05 1900 (has links)
No description available.

The optimal control and design of a flexible manipulator arm

Sangveraphunsiri, Viboon 05 1900 (has links)
No description available.

Design of a six-degree-of-freedom mechanical arm

Opong, George Kofi. January 1985 (has links)
Thesis (M.S.)--Ohio University, August, 1985. / Title from PDF t.p.

Geometry, dynamics and control of parallel manipulators /

Yiu, Yiu Kuen. January 2002 (has links)
Thesis (Ph. D.)--Hong Kong University of Science and Technology, 2002. / Vita. Includes bibliographical references. Also available in electronic version. Access restricted to campus users.

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