Matches in SemOpenAlex for { <https://semopenalex.org/work/W1963923038> ?p ?o ?g. }
Showing items 1 to 80 of
80
with 100 items per page.
- W1963923038 endingPage "526" @default.
- W1963923038 startingPage "520" @default.
- W1963923038 abstract "This paper describes a technique for improving dynamic performance of robots by recursively modifying the mechanical structure through prototyping and experimentation. In each recursion, a prototype robot is tested and evaluated experimentally, an incremental change in structure design is determined based on the analysis of the experimental data, and the mechanical structure is physically modified so as to drive the plant dynamics towards a desired response. To expedite the iterative process, (i) a rapid prototyping technique using photo-polymerization is developed, (ii) a gradient descent method is applied to recursively determine an optimal design, and (iii) all the design, prototyping, and experimentation processes are integrated and carried out under computer control. The optimal, incremental change of design is determined by using a sensitivity Jacobian. The sensitivity Jacobian is initially obtained numerically using a finite element model. Further, the sensitivity Jacobian is corrected and updated recursively with experimental data after each iteration. A proof-of-concept demonstration system is built and tested for the development of a simple single link robot. The arm structure made of plastic is reinforced recursively by coating it with a photo-acrylate plastic with an optimal thickness distribution so that the frequency response of the structure can be improved toward a desired reference model." @default.
- W1963923038 created "2016-06-24" @default.
- W1963923038 creator A5052171167 @default.
- W1963923038 creator A5085551993 @default.
- W1963923038 date "1995-12-01" @default.
- W1963923038 modified "2023-09-27" @default.
- W1963923038 title "Rapid Recursive Structure Redesign for Improved Dynamics of a Single Link Robot" @default.
- W1963923038 cites W2043968544 @default.
- W1963923038 cites W2072590393 @default.
- W1963923038 cites W2150535417 @default.
- W1963923038 doi "https://doi.org/10.1115/1.2801109" @default.
- W1963923038 hasPublicationYear "1995" @default.
- W1963923038 type Work @default.
- W1963923038 sameAs 1963923038 @default.
- W1963923038 citedByCount "12" @default.
- W1963923038 countsByYear W19639230382015 @default.
- W1963923038 crossrefType "journal-article" @default.
- W1963923038 hasAuthorship W1963923038A5052171167 @default.
- W1963923038 hasAuthorship W1963923038A5085551993 @default.
- W1963923038 hasConcept C111919701 @default.
- W1963923038 hasConcept C11413529 @default.
- W1963923038 hasConcept C115903868 @default.
- W1963923038 hasConcept C127413603 @default.
- W1963923038 hasConcept C133731056 @default.
- W1963923038 hasConcept C143587482 @default.
- W1963923038 hasConcept C154945302 @default.
- W1963923038 hasConcept C168773036 @default.
- W1963923038 hasConcept C200331156 @default.
- W1963923038 hasConcept C21200559 @default.
- W1963923038 hasConcept C24326235 @default.
- W1963923038 hasConcept C2775924081 @default.
- W1963923038 hasConcept C2780395129 @default.
- W1963923038 hasConcept C28826006 @default.
- W1963923038 hasConcept C33923547 @default.
- W1963923038 hasConcept C41008148 @default.
- W1963923038 hasConcept C47446073 @default.
- W1963923038 hasConcept C78519656 @default.
- W1963923038 hasConcept C90509273 @default.
- W1963923038 hasConcept C98045186 @default.
- W1963923038 hasConceptScore W1963923038C111919701 @default.
- W1963923038 hasConceptScore W1963923038C11413529 @default.
- W1963923038 hasConceptScore W1963923038C115903868 @default.
- W1963923038 hasConceptScore W1963923038C127413603 @default.
- W1963923038 hasConceptScore W1963923038C133731056 @default.
- W1963923038 hasConceptScore W1963923038C143587482 @default.
- W1963923038 hasConceptScore W1963923038C154945302 @default.
- W1963923038 hasConceptScore W1963923038C168773036 @default.
- W1963923038 hasConceptScore W1963923038C200331156 @default.
- W1963923038 hasConceptScore W1963923038C21200559 @default.
- W1963923038 hasConceptScore W1963923038C24326235 @default.
- W1963923038 hasConceptScore W1963923038C2775924081 @default.
- W1963923038 hasConceptScore W1963923038C2780395129 @default.
- W1963923038 hasConceptScore W1963923038C28826006 @default.
- W1963923038 hasConceptScore W1963923038C33923547 @default.
- W1963923038 hasConceptScore W1963923038C41008148 @default.
- W1963923038 hasConceptScore W1963923038C47446073 @default.
- W1963923038 hasConceptScore W1963923038C78519656 @default.
- W1963923038 hasConceptScore W1963923038C90509273 @default.
- W1963923038 hasConceptScore W1963923038C98045186 @default.
- W1963923038 hasIssue "4" @default.
- W1963923038 hasLocation W19639230381 @default.
- W1963923038 hasOpenAccess W1963923038 @default.
- W1963923038 hasPrimaryLocation W19639230381 @default.
- W1963923038 hasRelatedWork W18652806 @default.
- W1963923038 hasRelatedWork W1963923038 @default.
- W1963923038 hasRelatedWork W2002954889 @default.
- W1963923038 hasRelatedWork W2027596989 @default.
- W1963923038 hasRelatedWork W2353909869 @default.
- W1963923038 hasRelatedWork W2470005994 @default.
- W1963923038 hasRelatedWork W2726473257 @default.
- W1963923038 hasRelatedWork W2901459776 @default.
- W1963923038 hasRelatedWork W3128493652 @default.
- W1963923038 hasRelatedWork W3139593664 @default.
- W1963923038 hasVolume "117" @default.
- W1963923038 isParatext "false" @default.
- W1963923038 isRetracted "false" @default.
- W1963923038 magId "1963923038" @default.
- W1963923038 workType "article" @default.