This paper presents results from using the discrete-time transfer matrix method (DT-TMM) to model flexible robots under feedback control. The DT-TMM is powerful, but not very well known. DT-TMM analysis is very computationally efficient because the dimensions of the transfer matrices remain small regardless of the number of elements in the model. The system… (More)
Road Runner is an autonomous electric vehicle that was developed to compete in the Mini Grand Challenge, which requires traversing paved pathways on a college campus. A part from the competition, Road Runner was designed as a platform to explore areas of human-robot interaction between the passenger and vehicle. Road Runner is a one person electric golf… (More)
Robot arms carry a unique set of challenges with setup for use with inverse kinematics. An automated calibration for such robots would prove beneficial. A solution is discussed utilizing accelerometer feedback on the tip of a robot arm and an automated calibration routine.
To my mother Zhang, Xirong and father Gao, Chun. iii Acknowledgements First I give my thanks to my thesis advisor, Dr. Book, not only for his generous support, but his broad-mindedness and his advice on my research and my life. He has shown me a professional standard which will always stay with me. I also want to thank Dr. Ebert-Uphoff for her strong… (More)
This article discusses the creation of a python module for object-oriented modeling and control design of flexible robots using the transfer matrix method (TMM). The authors overcame several theoretical hurdles to apply the TMM to practical flexible robots and have experimentally validated the python module's modeling capabilities.