Bracing micro/macro manipulators control
Conference
·
OSTI ID:10163084
- Pacific Northwest Lab., Richland, WA (United States)
- Georgia Inst. of Tech., Atlanta, GA (United States). School of Mechanical Engineering
This paper proposes a bracing strategy for micro/macro manipulators. The bracing micro/macro manipulator can provide advantages in accurate positioning, large work-space, and contact-task capability however, in exchange for improvement in performance one must accept the complex control problem along wit the complex dynamics. This research develops a control scheme for a bracing manipulator which makes multiple contacts with the environment. Experimental results show the feasibility of the proposed ideas for real world applications.
- Research Organization:
- Pacific Northwest Lab., Richland, WA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); National Aeronautics and Space Administration, Washington, DC (United States)
- DOE Contract Number:
- AC06-76RL01830
- OSTI ID:
- 10163084
- Report Number(s):
- PNL-SA-24223; CONF-940550-13; ON: DE94014434; CNN: GRANT NAG1-623
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: May 1994
- Country of Publication:
- United States
- Language:
- English
Similar Records
Micro manipulator motion control to counteract macro manipulator structural vibrations
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Reactivity of [{l{underscore}brace}Mn{sup 4}(salpn){r{underscore}brace}{sub 2}({micro}-O,{micro}-OCH{sub 3})]{sup +} and [{l{underscore}brace}Mn{sup IV}(salpn){r{underscore}brace}{sub 2}({micro}-O,{micro}-OH)]{sup +}: Effects of proton liability and hydrogen bonding
Conference
·
Wed Feb 01 00:00:00 EST 1995
·
OSTI ID:10163084
+1 more
Structural vibration control of micro/macro-manipulator using feedforward and feedback approaches
Technical Report
·
Fri Sep 01 00:00:00 EDT 1995
·
OSTI ID:10163084
+1 more
Reactivity of [{l{underscore}brace}Mn{sup 4}(salpn){r{underscore}brace}{sub 2}({micro}-O,{micro}-OCH{sub 3})]{sup +} and [{l{underscore}brace}Mn{sup IV}(salpn){r{underscore}brace}{sub 2}({micro}-O,{micro}-OH)]{sup +}: Effects of proton liability and hydrogen bonding
Journal Article
·
Mon Oct 18 00:00:00 EDT 1999
· Inorganic Chemistry
·
OSTI ID:10163084
+3 more