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Your search keyword '"Misra, Arun K."' showing total 10 results
Start Over Author "Misra, Arun K." Publisher american society of mechanical engineers
10 results on '"Misra, Arun K."'

2. Control of macro-micro manipulators revisited

Author

Parsa, Kourosh, Angeles, Jorge, and Misra, Arun K.

Subjects
Manipulators -- Design and construction, Manipulators -- Analysis, Engineering and manufacturing industries, Science and technology
Abstract

A full-pose, position and orientation, trajectory-tracking control of kinematically redundant flexible-macro-rigid-micro manipulators is proposed. Redundancy is resolved such that the forces exciting the lowest-frequency 'modal coordinates' of the system are minimized, while imposing a proportional damping on the flexural dynamics, rendering it stable under certain conditions. The simulation results show that the initial posture of the manipulator plays an important role in satisfying the foregoing stability conditions. [DOI: 10.1115/1.1870039]

Published
2005

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