Small robot autonomy in an integrated environment

2008 ◽  
Author(s):  
Barry J. O'Brien ◽  
Stuart H. Young
Keyword(s):  
Integrated Environment ◽  
Small Robot

Integrated Environment for Developing E-Learning Lectures

2016 ◽  
Vol 6 (2) ◽  
pp. 35-44
Author(s):  
Vladimir Bondarev ◽  
Alexander Ossyka ◽  
Afif Mghawish
Keyword(s):  
Integrated Environment ◽  
E Learning

CINEMAS: Comprehensively INtegrated Environment for advanced MAterials Simulations

2021 ◽  
Vol 188 ◽  
pp. 110238
Author(s):  
Kapil Gupta ◽  
Satadeep Bhattacharjee ◽  
Seung-Cheol Lee
Keyword(s):  
Advanced Materials ◽  
Integrated Environment

An integrated environment for requirements engineering

IEEE Software ◽  
1992 ◽  
Vol 9 (3) ◽  
pp. 80-85 ◽  
Author(s):  
J.D. Palmer ◽  
N.A. Fields
Keyword(s):  
Requirements Engineering ◽  
Integrated Environment

Integrated environment for a bathymetry and navigation database

2017 ◽  
Vol 27 (4) ◽  
pp. 777-782
Author(s):  
Yu. G. Vasin ◽  
Yu. V. Yasakov
Keyword(s):  
Integrated Environment

Active Damping of a Large Flexible Manipulator With a Short-Reach Robot

1996 ◽  
Vol 118 (4) ◽  
pp. 704-713 ◽  
Author(s):  
I. Sharf
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Reaction Force ◽  
Control Variable ◽  
Active Damping ◽  
Flexible Manipulator ◽  
Design Problems ◽  
Flexible Arm ◽  
Six Degree Of Freedom ◽  
Small Robot

This paper deals with manipulator systems comprising a long-reach manipulator (LRM) with a short-reach dextrous manipulator (SRM) attached to its end. The former, due to its size, is assumed to have significant structural flexibility, while the latter is modeled as a rigid robot. The particular problem addressed is that of active damping, or vibration suppression, of the LRM by using SRM specifically for that purpose Such a scenario is envisioned for operations where the large manipulator is used to deploy the small robot and it is necessary to damp out vibrations in LRM prior to operating SRM. The proposed solution to the problem uses the reaction force from SRM to LRM as a control variable which allows to effectively decouple the controller design problems for the two manipulators. A two-stage controller is presented that involves first, determining the trajectory of the short manipulator required to achieve a desired damping wrench to the supporting flexible arm and subsequently, brings the small manipulator to rest. Performance of the active damping algorithm developed is illustrated with a six-degree-of-freedom rigid manipulator on a flexible mast. Comparison to an independent derivative joint controller is included. The paper also discusses how the proposed methodology can be extended to address other issues related to operation of long-reach manipulator systems.

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