This ARO-sponsored research investigation has led to a much better understanding of the means to control the dynamic stability of elastically flexible multi-axes robot manipulators as fully described in this final report and its enclosures and attachments. The acquired knowledge in this research effort will be applicable to a large number of military applications and needs such as the use of robotically automated fast moving and light weight gun barrels, target finders, directed laser or particle beams, tank auto-loaders, robot-equipped military vehicles, helicopters and planes. Goals: (1) To achieve stability of motion and computer control of precise positioning of fast moving (light-weight, flexible) robot manipulators, military aiming devices and robotic tank autoloaders; (2) To explore stability of motion problems associated with robot arm-equipped military transports such as helicopters, tanks and armored vehicles; (3) To construct an experimental set up for the simulation of the motion of a flexible robot attached to a moving base; and 4) To conduct experiments to confirm the results obtained in items 1 and 2 of the above goals.


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    Title :

    Dynamic Stability of Flexible Robot Manipulators


    Contributors:

    Publication date :

    1991


    Size :

    141 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





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