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Quasi-Static Deflection Compensation Control Of Flexible Manipulator, Jingbin Feng
Quasi-Static Deflection Compensation Control Of Flexible Manipulator, Jingbin Feng
Dissertations and Theses
The growing need in industrial applications of high-performance robots has led to designs of lightweight robot arms. However the light-weight robot arm introduces accuracy and vibration problems. The classical robot design and control method based on the rigid body assumption is no longer satisfactory for the light-weight manipulators. The effects of flexibility of light-weight manipulators have been an active research area in recent years. A new approach to correct the quasi-static position and orientation error of the end-effector of a manipulator with flexible links is studied in this project. In this approach, strain gages are used to monitor the elastic …
Effectiveness Of Additive Correction Multigrid In Numerical Heat Transfer Analysis When Implemented On An Intel Ipsc2, James D. Padgett
Effectiveness Of Additive Correction Multigrid In Numerical Heat Transfer Analysis When Implemented On An Intel Ipsc2, James D. Padgett
Dissertations and Theses
The effectiveness of the Additive Correction Multigrid (ACM) algorithm, a line-byline Tri-diagonal Matrix Algorithm (TDMA), and simple Gauss-Seidel (GS) iteration in numerical heat transfer analysis is investigated on a conventional single processor computer and on a distributed memory parallel computer. The performance of these methods is studied by solving a two-dimensional, steady heat conduction problem. The execution time of ACM on a single processor is proportional to the number of unknowns to the 1.5 power. This is in contrast to the execution time of the TDMA for which the execution time is proportional to the number of unknowns to the …