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Modeling and dynamic simulation of a closed chain free-floating planar manipulatorShelly, Michael Patrick. January 1992 (has links)
Thesis (M.S.)--Ohio University, March, 1992. / Title from PDF t.p.
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Teleoperation of mechanical manipulators aboard the US space stationPan, 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.
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Control of a force-reflecting telerobotic systemBurn, Kevin January 1993 (has links)
No description available.
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Dynamics and control of a rigid/flexible manipulatorYeh, 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
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Design and control principles for flexible manipulator arms using active and passive controlLane, Jeffrey Scott 05 1900 (has links)
No description available.
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The design of a planar acting manipulator and its controlField, Lawrence Elliot 05 1900 (has links)
No description available.
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Controlling flexible manipulators, an experimental investigationHastings, Gordon Greene 08 1900 (has links)
No description available.
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Digital control for flexible manipulator armsTahboub, Karim Abdul Majid 05 1900 (has links)
No description available.
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The optimal control and design of a flexible manipulator armSangveraphunsiri, Viboon 05 1900 (has links)
No description available.
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Kinematic solutions for the effective implementation of parallel manipulatorsNotash, Leila 06 May 2015 (has links)
Graduate
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