Design and Implementation of a Flexible Robot

Title: en_US Design and Implementation of a Flexible Robot
Creator: en_US Christian, Andrew Dean
Date: 2004-10-20T20:12:14Z
Date Available: 2004-10-20T20:12:14Z
Date Issued: en_US 1989-08-01
Identifier: en_US AITR-1153
uri: http://hdl.handle.net/1721.1/6983
Abstract: en_US This robot has low natural frequencies of vibration. Insights into the problems of designing joint and link flexibility are discussed. The robot has three flexible rotary actuators and two flexible, interchangeable links, and is controlled by three independent processors on a VMEbus. Results from experiments on the control of residual vibration for different types of robot motion are presented. Impulse prefiltering and slowly accelerating moves are compared and shown to be effective at reducing residual vibration.
Extent: 12934423 bytes; 9154426 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1153