Design and Implementation of a Flexible Robot
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 f...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6983 |
| _version_ | 1826189327929966592 |
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| author | Christian, Andrew Dean |
| author_facet | Christian, Andrew Dean |
| author_sort | Christian, Andrew Dean |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T08:13:03Z |
| id | mit-1721.1/6983 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T08:13:03Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/69832019-04-09T17:23:27Z Design and Implementation of a Flexible Robot Christian, Andrew Dean 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. 2004-10-20T20:12:14Z 2004-10-20T20:12:14Z 1989-08-01 AITR-1153 http://hdl.handle.net/1721.1/6983 en_US AITR-1153 12934423 bytes 9154426 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Christian, Andrew Dean Design and Implementation of a Flexible Robot |
| title | Design and Implementation of a Flexible Robot |
| title_full | Design and Implementation of a Flexible Robot |
| title_fullStr | Design and Implementation of a Flexible Robot |
| title_full_unstemmed | Design and Implementation of a Flexible Robot |
| title_short | Design and Implementation of a Flexible Robot |
| title_sort | design and implementation of a flexible robot |
| url | http://hdl.handle.net/1721.1/6983 |
| work_keys_str_mv | AT christianandrewdean designandimplementationofaflexiblerobot |