Relevant bibliographies by topics / 6 degree of freedom (DOF) robot

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers
  5. Reports

Academic literature on the topic '6 degree of freedom (DOF) robot'

Author: Grafiati
Published: 3 June 2025
Last updated: 22 June 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic '6 degree of freedom (DOF) robot.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "6 degree of freedom (DOF) robot"

1

Reddy, B. Nithin. "Mechanical Design and Analysis of Six-Degree-of-Freedom (6-DOF) SCARA Robot for Industrial Applications." International Journal for Research in Applied Science and Engineering Technology 12, no. 4 (2024): 6080–87. http://dx.doi.org/10.22214/ijraset.2024.59008.

Full text
Abstract:
Abstract: A six-degree-of-freedom (6-DOF) SCARA robot is an advanced robotic system capable of moving and manipulating objects in a three-dimensional space with a high degree of precision and flexibility. The term "SCARA" stands for "Selective Compliance Articulated Robot Arm," indicating its design that allows a combination of rigidity and compliance along specific axes. This unique combination of features makes 6-DOF SCARA robots highly versatile and suitable for a wide range of industrial applications. Unlike traditional SCARA robots that typically have four degrees of freedom, the addition of two extra degrees of freedom enhances the 6-DOF SCARA robot's spatial reach and manipulation capabilities. This enables the robot to perform tasks that require complex orientations, intricate movements, and precise positioning within a 3D workspace. The mechanical design, kinematics, and control strategies of these robots are carefully developed to ensure accurate and efficient performance, making them valuable tools in various industries. 6-DOF SCARA robots find applications in numerous industries where precise manipulation, efficient automation, and versatile positioning are crucial.
APA, Harvard, Vancouver, ISO, and other styles
2

Raheem qasim, Kian, Yousif I. Al Mashhadany, and Esam T. Yassen. "An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application." Iraqi Journal for Computers and Informatics 49, no. 1 (2023): 66–83. http://dx.doi.org/10.25195/ijci.v49i1.405.

Full text
Abstract:
With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced by the design of their controllers. However, the majority of controllers devised up to this point were incapable of effectively resolving the nonlinearity and uncertainty issues of high-degree freedom manipulators in order to overcome these issues and enhance the track performance of high-degree freedom manipulators. Developing practical path-planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper.
APA, Harvard, Vancouver, ISO, and other styles
3

Pierrot, François, Masaru Uchiyama, Pierre Dauchez, and Alain Fournier. "A New Design of a 6-DOF Parallel Robot." Journal of Robotics and Mechatronics 2, no. 4 (1990): 308–15. http://dx.doi.org/10.20965/jrm.1990.p0308.

Full text
Abstract:
This paper presents a six-degree-of-freedom parallel robot which has been recently designed. The design is based on a three-degree-of-freedom parallel robot called DELTA which was designed in Switzerland by EPFL. First, we give equations corresponding to different models of the DELTA robot: forward and inverse kinematics as well as inverse dynamics. An important feature of our method in deriving these models is to use a “good” set of parameters in order to simplify the equations. Then, in an attempt to extend the principle of the DELTA robot mechanical structure to a six-degree-offreedom parallel robot, we propose a new design called HEXA. Equations for kinematics and dynamics of the HEXA robot are presented and show that it has the same dynamic capabilities as the DELTA robot because, like the DELTA robot, it can be built with light-weight materials and easily modeled. Finally, we discuss optimization of the HEXA robot mechanical structure.
APA, Harvard, Vancouver, ISO, and other styles
4

Zeng, Xiao Hua, Jia Chen, and Li Kun Peng. "Statics Analysis of 6-DOF Parallel Robot Based on Screw Theory." Applied Mechanics and Materials 536-537 (April 2014): 965–69. http://dx.doi.org/10.4028/www.scientific.net/amm.536-537.965.

Full text
Abstract:
Screw theory was introduced and inducted to the statics analysis and calculation of 6-DOF (Degree of Freedom) parallel robot. Based on the scheme, a 6-DOF parallel robot--hydraulic Stewart test platform was checked specially. The results reveal that, the platform design is appropriate, the analysis procedure is concise and the calculation operation is simple and convenient.
APA, Harvard, Vancouver, ISO, and other styles
5

Sudharsan, Jayabalan, and L. Karunamoorthy. "Derivation of Forward and Inverse Kinematics of 8 - Degrees of Freedom Based Bio-Inspired Humanoid Robotic Arm." Advanced Materials Research 984-985 (July 2014): 1245–52. http://dx.doi.org/10.4028/www.scientific.net/amr.984-985.1245.

Full text
Abstract:
Designing a humanoid robot is a complex issue and the exact resemblance of human arm movements has not been achieved in many of the previously developed robots. This paper is going to be much focused on the design of a humanoid robot arm which has a unique approach which has never been developed earlier. Even though all the robots that have been developed using 6-Degrees of Freedom (DOF) and 7-DOF can reach any point in the space, some of the orientation cannot be reached by the end effector plane effectively. So an 8-DOF freedom based robotic arm has been specially designed and developed to resemble the exact movements of the human being. This robot has 3-DOF for shoulder joint, 2-DOF for the elbow joint, and 3-DOF for the wrist with fingers as the end effector. Almost all the robots have only 1-DOF to the elbow joint but here 2-DOF has been proposed to resemble the exact movements of the human being (2-DOF at elbow) to solve the above mentioned problem. Literature reviews and design model are discussed in detail to support the proposal that has been made. Forward and inverse Kinematic relationships are also obtained for the joint link parameter. This humanoid robot arm which has been designed and developed is one of the modules of a human size humanoid robot RALA (Robot based on Autonomous Learning Algorithm).
APA, Harvard, Vancouver, ISO, and other styles
6

Wang, Cai Dong, Xin Jie Wang, Xue Dong Chen, and Chao Hui Zhang. "Error Analysis of 6-DOF Welding Robot." Applied Mechanics and Materials 220-223 (November 2012): 1111–15. http://dx.doi.org/10.4028/www.scientific.net/amm.220-223.1111.

Full text
Abstract:
Welding robot has the advantages that welding quality stability, high efficiency, improving the working conditions of workers, and it is widely applied in the manufacturing sector. A six degree of freedom welding robot configuration is presented in this paper. The kinematics model of the robot is established by DH method and its kinematics was analyzed. At last the error model of the position-pose of the robot end-effecter, produced by the influence of robot joint movement variables deviation and structure deviation, was established by the differential method. The deviation influence on the end-effecter was analyzed by numerical simulation. The results prove the error model is right, and they will provide a reliable basis for robot position error compensation and accuracy optimum design.
APA, Harvard, Vancouver, ISO, and other styles
7

Fan, Jingsong, Xiangqiang Zhong, Zhimin Di, and Huajie Fang. "Collaborative operation of 6-DOF industrial robot based on digital twin." Journal of Physics: Conference Series 2206, no. 1 (2022): 012019. http://dx.doi.org/10.1088/1742-6596/2206/1/012019.

Full text
Abstract:
Abstract In order to realize the collaborative operation between the physical prototype and the virtual prototype of industrial robot, a digital twin model of a six-degree-of-freedom industrial robot was established. The structure and motion parameters of the 6-DOF industrial robot are introduced. The virtual prototype model of the industrial robot was established based on Visual One; the digital twin modeling of the industrial robot was completed by the three methods communication between the virtual prototype of the industrial robot and the physical prototype was realized, and the virtual and real collaborative operation of the twin robot and the physical robot was realized. Experiments show that when manipulating the movement of the robot on the physical terminal, the digital twin was consistent with its behavior. The research results provide references for the application of digital twin technology in the field of industrial robots.
APA, Harvard, Vancouver, ISO, and other styles
8

Ding, Li, Hongtao Wu, Yu Yao, and Yuxuan Yang. "Dynamic Model Identification for 6-DOF Industrial Robots." Journal of Robotics 2015 (2015): 1–9. http://dx.doi.org/10.1155/2015/471478.

Full text
Abstract:
A complete and systematic procedure for the dynamical parameters identification of industrial robot manipulator is presented. The system model of robot including joint friction model is linear with respect to the dynamical parameters. Identification experiments are carried out for a 6-degree-of-freedom (DOF) ER-16 robot. Relevant data is sampled while the robot is tracking optimal trajectories that excite the system. The artificial bee colony algorithm is introduced to estimate the unknown parameters. And we validate the dynamical model according to torque prediction accuracy. All the results are presented to demonstrate the efficiency of our proposed identification algorithm and the accuracy of the identified robot model.
APA, Harvard, Vancouver, ISO, and other styles
9

Cheng, Jun, Shusheng Bi, Chang Yuan, Yueri Cai, Yanbin Yao, and Ling Zhang. "Dynamic Modeling Method of Multibody System of 6-DOF Robot Based on Screw Theory." Machines 10, no. 7 (2022): 499. http://dx.doi.org/10.3390/machines10070499.

Full text
Abstract:
An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research of multi-degree of freedom (DOF) robots is relatively unexplored and needs to be solved urgently. In this paper, a dynamic modeling method of multibody system of 6-DOF robot is proposed based on the screw theory. The established dynamic model has a more concise and unified mathematical form, and the modular matrix expression is convenient for the control of the robot. In order to ensure that the screw method is suitable for motion in a wide range of angles, quaternions are used as generalized angular coordinates, and the model established thereby eliminates singularities and improves computational efficiency. The correctness and accuracy of the screw method is verified by the simulation example, and the modeling theory and method can provide a theoretical basis for the precise control of the robot.
APA, Harvard, Vancouver, ISO, and other styles
10

Jha, Sachchidanand. "Modelling and Control of 6- Degrees of Freedom movement Using Fuzzy Logic." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 08, no. 07 (2024): 1–6. http://dx.doi.org/10.55041/ijsrem36298.

Full text
Abstract:
After the 20 th century, the automotive industry is experiencing significant growth. This paper presents the design of a robotic arm capable of emulating the dexterity of the human hand, facilitating object manipulation in laboratory, industrial, or hazardous environments with 6 degrees of freedom (6-DOF). To analyse torque characteristics, a humanoid robot arm model is employed, simulating tasks such as lifting and transferring the objects. Current robotic hands often lack full hand functionality, limiting their use in environments tailored for human interaction. Acquiring high reliability trajectory tracking remains a formidable obitual in the field of industrial robot control, primarily due to nonlinearities and input couplings inherent in robot arm dynamics. In this we are focuses on the modelling and control of a 6-degree of freedom (DOF) robot arm, progressing through five key developmental stages. Initially, a comprehensive computer-aided design (CAD) model of the 6-DOF robot arm is developed. Subsequently, the CAD model is translated into a physical model using Sim Mechanics Link. The core of the paper involves applying a Neuro-Fuzzy Controller to the robot arm, known for its adaptability in handling complex and nonlinear systems. The controller implementation, simulations are conducted using MATLAB/Simulink, a robust platform for dynamic system analysis. The performance evaluation compares the Neuro-Fuzzy controller against a linear controller across key metrics: rise time, percentage overshoot, settling time, and steady-state errors. The findings indicate that the Neuro-Fuzzy controller outperforms the linear controller significantly in all measured characteristics. This underscores its suitability for enhancing trajectory tracking precision in industrial robotic applications. Keywords: MATLAB, CAD Model, SolidWorks software
APA, Harvard, Vancouver, ISO, and other styles
More sources

Dissertations / Theses on the topic "6 degree of freedom (DOF) robot"

1

Gu, Jie. "Development of a 6-degree-of-freedom magnetically levitated instrument with nanometer precision." Thesis, Texas A&M University, 2003. http://hdl.handle.net/1969/118.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Calhoun, Sean M. "Six Degree-of-Freedom Modeling of an Uninhabited Aerial Vehicle." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1149543622.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Joshi, Atul Ravindra. "Design and control of a three degree-of-freedom planar parallel robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Ding, Jun. "Mechanism Design, Kinematics and Dynamics Analysis of a 7-Degree-Of-Freedom (DOF) Cable-Driven Humanoid Robot Arm." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299856503.

Full text
APA, Harvard, Vancouver, ISO, and other styles
5

Alqasemi, Redwan M. "Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002004.

Full text
APA, Harvard, Vancouver, ISO, and other styles
6

Henson, Peter MA. "Development of a 6 degree-of-freedom manipulator arm for use on an urban search and rescue robot." Master's thesis, University of Cape Town, 2012. http://hdl.handle.net/11427/12277.

Full text
Abstract:
Includes abstract.<br>Includes bibliographical references.<br>This document reports on the design, construction and testing of the manipulator arm that is to be fitted to UCT's Urban Search and Rescue Robot (USRR), named the Ratel. The 6 degree-of-freedom manipulator arm is mounted on the crawler base. The USRR is designed to traverse difficult terrain in search of survivors. The base is therefore equipped with variable geometry tracks to enable it to traverse stairs and other tricky terrain. The sensor payload is equipped with life detection equipment and the manipulator arm enables the USRR to manipulate with its environment (opening doors etc.) and to interact with survivors, passing them water or food packs.
APA, Harvard, Vancouver, ISO, and other styles
7

Yang, Yiming. "Motion synthesis for high degree-of-freedom robots in complex and changing environments." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/31236.

Full text
Abstract:
The use of robotics has recently seen significant growth in various domains such as unmanned ground/underwater/aerial vehicles, smart manufacturing, and humanoid robots. However, one of the most important and essential capabilities required for long term autonomy, which is the ability to operate robustly and safely in real-world environments, in contrast to industrial and laboratory setup is largely missing. Designing robots that can operate reliably and efficiently in cluttered and changing environments is non-trivial, especially for high degree-of-freedom (DoF) systems, i.e. robots with multiple actuators. On one hand, the dexterity offered by the kinematic redundancy allows the robot to perform dexterous manipulation tasks in complex environments, whereas on the other hand, such complex system also makes controlling and planning very challenging. To address such two interrelated problems, we exploit robot motion synthesis from three perspectives that feed into each other: end-pose planning, motion planning and motion adaptation. We propose several novel ideas in each of the three phases, using which we can efficiently synthesise dexterous manipulation motion for fixed-base robotic arms, mobile manipulators, as well as humanoid robots in cluttered and potentially changing environments. Collision-free inverse kinematics (IK), or so-called end-pose planning, a key prerequisite for other modules such as motion planning, is an important and yet unsolved problem in robotics. Such information is often assumed given, or manually provided in practice, which significantly limiting high-level autonomy. In our research, by using novel data pre-processing and encoding techniques, we are able to efficiently search for collision-free end-poses in challenging scenarios in the presence of uneven terrains. After having found the end-poses, the motion planning module can proceed. Although motion planning has been claimed as well studied, we find that existing algorithms are still unreliable for robust and safe operations in real-world applications, especially when the environment is cluttered and changing. We propose a novel resolution complete motion planning algorithm, namely the Hierarchical Dynamic Roadmap, that is able to generate collision-free motion trajectories for redundant robotic arms in extremely complicated environments where other methods would fail. While planning for fixed-base robotic arms is relatively less challenging, we also investigate into efficient motion planning algorithms for high DoF (30 - 40) humanoid robots, where an extra balance constraint needs to be taken into account. The result shows that our method is able to efficiently generate collision-free whole-body trajectories for different humanoid robots in complex environments, where other methods would require a much longer planning time. Both end-pose and motion planning algorithms compute solutions in static environments, and assume the environments stay static during execution. While human and most animals are incredibly good at handling environmental changes, the state-of-the-art robotics technology is far from being able to achieve such an ability. To address this issue, we propose a novel state space representation, the Distance Mesh space, in which the robot is able to remap the pre-planned motion in real-time and adapt to environmental changes during execution. By utilizing the proposed end-pose planning, motion planning and motion adaptation techniques, we obtain a robotic framework that significantly improves the level of autonomy. The proposed methods have been validated on various state-of-the-art robot platforms, such as UR5 (6-DoF fixed-base robotic arm), KUKA LWR (7-DoF fixed-base robotic arm), Baxter (14-DoF fixed-base bi-manual manipulator), Husky with Dual UR5 (15-DoF mobile bi-manual manipulator), PR2 (20-DoF mobile bi-manual manipulator), NASA Valkyrie (38-DoF humanoid) and many others, showing that our methods are truly applicable to solve high dimensional motion planning for practical problems.
APA, Harvard, Vancouver, ISO, and other styles
8

"Dynamics and Motion of a Six Degree of Freedom Robot Manipulator." Thesis, 2012. http://hdl.handle.net/10388/ETD-2012-12-871.

Full text
Abstract:
In this thesis, a strategy to accomplish pick-and-place operations using a six degree-of-freedom (DOF) robotic arm attached to a wheeled mobile robot is presented. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Strong efforts have been made to incorporate technology to fulfill these needs. Several methods were implemented to make a 6-DOF manipulator capable of performing pick-and-place operations. Some of these methods were used to achieve specific tasks such as: solving the inverse kinematics problem, or planning a collision-free path. Other methods, such as forward kinematics description, workspace evaluation, and dexterity analysis, were used to describe the manipulator and its capabilities. The manipulator was accurately described by obtaining the link transformation matrices from each joint using the Denavit-Hartenberg (DH) notations. An Iterative Inverse Kinematics method (IIK) was used to find multiple configurations for the manipulator along a given path. The IIK method was based on the specific geometric characteristic of the manipulator, in which several joints share a common plane. To find admissible solutions along the path, the workspace of the manipulator was considered. Algebraic formulations to obtain the specific workspace of the 6-DOF manipulator on the Cartesian coordinate space were derived from the singular configurations of the manipulator. Local dexterity analysis was also required to identify possible orientations of the end-effector for specific Cartesian coordinate positions. The closed-form expressions for the range of such orientations were derived by adapting an existing dexterity method. Two methods were implemented to plan the free-collision path needed to move an object from one place to another without colliding with an obstacle. Via-points were added to avoid the robot mobile platform and the zones in which the manipulator presented motion difficulties. Finally, the segments located between initial, final, and via-points positions, were connected using straight lines forming a global path. To form the collision-free path, the straight-line were modified to avoid the obstacles that intersected the path. The effectiveness of the proposed analysis was verified by comparing simulation and experimental results. Three predefined paths were used to evaluate the IIK method. Ten different scenarios with different number and pattern of obstacles were used to verify the efficiency of the entire path planning algorithm. Overall results confirmed the efficiency of the implemented methods for performing pick-and-place operations with a 6-DOF manipulator.
APA, Harvard, Vancouver, ISO, and other styles
9

Zhu, Tao. "Six degree of freedom active vibration isolation using quasi-zero stiffness magnetic levitation." Thesis, 2014. http://hdl.handle.net/2440/85036.

Full text
Abstract:
Vibration is recognised as one of the most significant disturbances to the operation of mechanical systems. Many traditional vibration isolator designs suffer from the trade-off between load capacity and isolation performance. Furthermore, in providing sufficient stiffness in the vertical direction to meet payload weight requirements, isolators are generally overly stiff in the remaining five degrees of freedom (DOF). In order to address the limitations of traditional isolator designs, this thesis details the development of a 6-DOF active vibration isolation approach. The proposed solution is based on a magnetic levitation system, which provides quasi-zero stiffness payload support in the vertical direction, and inherent zero stiffness in the other five DOFs. The introduced maglev isolator also allows the static force and moment inputs from the payload to be adaptive-passively balanced using permanent magnets. In this thesis, the theoretical background of the proposed maglev vibration isolation method is presented, which demonstrates the ability of the maglev system to achieve the intended vertical payload support and stiffness in the six degrees of freedom. Numerical models for calculating the forces and torques in the proposed maglev system are derived, and the analysis of the cross-coupling effects between the orthogonal DOFs of the isolator is also presented based on the developed system models. A mechanism is introduced by which the cross-coupling effects can be exploited to achieve load balancing for static inputs using permanent magnet forces alone. Following the development of the theoretical model, the mechanical design of the maglev isolator is presented. The designs of the various control systems that are necessary to enable the operation of the maglev isolator are explained. The presented control algorithms achieve three functions: stabilisation of the inherently unstable maglev system, adaptive-passive support of the payload using the cross-coupling effects introduced previously, and autonomous magnet position tuning for online system performance optimisation. Following the discussion of the controller design, a 6-DOF skyhook damping system is presented. The active damping system creates an artificial damping effect in the isolation system to reduce the vibration transmissibility around the resonance frequency of the system. The vibration transmissibilities of the developed maglev isolator were measured in 6-DOF, and results are presented for various combinations of controller settings and damping gains. Through comparisons between the measured performance of the physical system and the predicted performance from theory, the developed maglev vibration isolator demonstrated its practical ability to achieve high performance vibration isolation in six degrees of freedom.<br>Thesis (Ph.D.) -- University of Adelaide, School of Mechanical Engineering, 2014
APA, Harvard, Vancouver, ISO, and other styles
10

Yu-ChenLin and 林愉珍. "Optimal Command Generation of High Degree of Freedom Manipulator Based on a 6 DOF Floating Platform." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/aqb2ft.

Full text
Abstract:
碩士<br>國立成功大學<br>航空太空工程學系<br>107<br>For general robot arm control applications, the base of the manipulator is equipped on a fixed platform and the difficulty of end effector (EE) position control usually results from the moving base under the complex working environment causing low mobility to manipulators. For instance, performing marine engineering, such as assembling, lifting, and welding operations need the high mobility of manipulators in order to achieve the tasks accurately. Furthermore, the demand for high mobility robot control is increasing dramatically especially for intelligent factory automation. However, realizing the high mobility moving robot arm control involves complicated kinematics computations. To deal with this issue, an innovative method is proposed to improve the efficiency of calculating the solutions to robot manipulators. The EE position control is formulated as an optimization problem and a numerical method is proposed. For a given target point and a base orientation, the sub-optimal solution can be found by each iteration and the optimal joint angle positions can be generated eventually. Therefore, it is unnecessary to take various physical configurations into consideration that users try to obtain joint angle solutions. Also, this method allows users to tackle with solutions to any number of degree of freedom (DOF). To sum up, comparing with the traditional method, such as inverse kinematics, the proposed algorithm is more efficient and is with high flexibility for a moving platform robot control applications.
APA, Harvard, Vancouver, ISO, and other styles

Book chapters on the topic "6 degree of freedom (DOF) robot"

1

Chen, Liugang, Pengcheng Zhu, Wang Qiang, Xingbin Zhang, and Shufen Wang. "Fuzzy Backpropagation Neural Network PID Control of a 6-DOF Parallel Robot." In Lecture Notes in Mechanical Engineering. Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-97-7887-4_121.

Full text
Abstract:
Abstract To investigate the motion of a ship in the ocean, a six-degree-of-freedom hydraulically driven parallel mechanism is designed, the inverse solution algorithm of parallel robot is derived, and the control algorithm of parallel robot is established. The control performance of the parallel robot is developed and improved through co-simulation employing mechanical, hydraulic, and control software. PID control, Fuzzy PID control, and Fuzzy BPNN (Backpropagation Neural Network) PID control are developed for the parallel mechanism with multiple inputs and outputs, high nonlinearity, and strong coupling. The results indicate that the displacement error of the parallel platform have good tracking performance when under Fuzzy BPNN PID control.
APA, Harvard, Vancouver, ISO, and other styles
2

Baigunchekov, Zh, and M. Izmambetov. "The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom." In ROMANSY 18 Robot Design, Dynamics and Control. Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_57.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Han, Xiao, Cheng-Hsuan Yang, Yuxiang Chen, and Alejandra Hernandez Sanchez. "A Robotic Method to Insert Batt Insulation into Light-Frame Wood Wall for Panel Prefabrications." In CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality. Firenze University Press, 2023. http://dx.doi.org/10.36253/10.36253/979-12-215-0289-3.58.

Full text
Abstract:
Currently, industrial robot arms are trending in prefabricated building construction; however, a notable gap exists in established automated processes and related research specifically for the insertion of batt thermal insulation. The current method for accomplishing this task relies on manual insertion, which is labour-intensive for the workers and poses long-term health and safety concerns. This research presents an ongoing research project aimed at developing a feasible robotic process for the automated insertion of batt thermal insulation into prefabricated light-frame wood wall frames. This research focuses on the utilization of a single 6-degree-of-freedom robot arm for the insertion process, complimented by the design of a custom-built end-effector. The proposed robotic insertion process, named GLITPP, comprises of six major steps: (1) Grasp, (2) Lift, (3) Insert, (4) Tilt, (5) Push, and (6) Press. The GLITPP insertion process, along with the custom-built end-effector effectively mitigates the influence of the insulation’s nonlinear mechanical properties, while also taking collision avoidance into consideration. This ensures a tight-fitting insulation within the frame cavity, without visible gaps and deficiencies. The necessary physical operating parameters for the insertion process, such as angles, offset, and force requirements, are identified to ensure the precision, efficiency, and repeatability of insertion. A prototype of the designed end-effector is used to demonstrate and validate the robotic method, achieved a high success rate of 93.3%. The development of this research will further advance the complete automation of light-frame wood wall panel prefabrication, offering the industry a wider range of options for selecting thermal insulation for their processes
APA, Harvard, Vancouver, ISO, and other styles
4

Han, Xiao, Cheng-Hsuan Yang, Yuxiang Chen, and Alejandra Hernandez Sanchez. "A Robotic Method to Insert Batt Insulation into Light-Frame Wood Wall for Panel Prefabrications." In CONVR 2023 - Proceedings of the 23rd International Conference on Construction Applications of Virtual Reality. Firenze University Press, 2023. http://dx.doi.org/10.36253/979-12-215-0289-3.58.

Full text
Abstract:
Currently, industrial robot arms are trending in prefabricated building construction; however, a notable gap exists in established automated processes and related research specifically for the insertion of batt thermal insulation. The current method for accomplishing this task relies on manual insertion, which is labour-intensive for the workers and poses long-term health and safety concerns. This research presents an ongoing research project aimed at developing a feasible robotic process for the automated insertion of batt thermal insulation into prefabricated light-frame wood wall frames. This research focuses on the utilization of a single 6-degree-of-freedom robot arm for the insertion process, complimented by the design of a custom-built end-effector. The proposed robotic insertion process, named GLITPP, comprises of six major steps: (1) Grasp, (2) Lift, (3) Insert, (4) Tilt, (5) Push, and (6) Press. The GLITPP insertion process, along with the custom-built end-effector effectively mitigates the influence of the insulation’s nonlinear mechanical properties, while also taking collision avoidance into consideration. This ensures a tight-fitting insulation within the frame cavity, without visible gaps and deficiencies. The necessary physical operating parameters for the insertion process, such as angles, offset, and force requirements, are identified to ensure the precision, efficiency, and repeatability of insertion. A prototype of the designed end-effector is used to demonstrate and validate the robotic method, achieved a high success rate of 93.3%. The development of this research will further advance the complete automation of light-frame wood wall panel prefabrication, offering the industry a wider range of options for selecting thermal insulation for their processes
APA, Harvard, Vancouver, ISO, and other styles
5

Inner, Burak, and Serdar Kucuk. "A Dexterous Workspace Optimization for Ten Different Types of General Stewart-Gough Platforms." In Recent Advances in Robot Manipulators [Working Title]. IntechOpen, 2022. http://dx.doi.org/10.5772/intechopen.108185.

Full text
Abstract:
In this chapter, a dexterous workspace optimization is performed for ten different types of 6-Degrees-Of-Freedom (DOF) General Stewart-Gough Platforms (GSPs). The optimization aims to find the optimum radius of the circumferential circle and separation angles between adjacent vertices of base and moving platforms in order to maximize both the dexterities and workspaces of the manipulators subject to geometric constraints. Particle Swarm Optimization (PSO), increasingly being applied to engineering applications, is used as the optimization algorithm. Finally, the optimization results for ten different types of 6-DOF GSPs are compared to each other in terms of kinematic performances.
APA, Harvard, Vancouver, ISO, and other styles
6

Zhang Xiaoli, Oleynikov Dmitry, and Nelson Carl A. "Portable Tool Positioning Robot for Telesurgery." In Studies in Health Technology and Informatics. IOS Press, 2009. https://doi.org/10.3233/978-1-58603-964-6-438.

Full text
Abstract:
A compact, portable robot called CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery) has been developed for tool guidance in minimally invasive surgery (MIS). It uses a spherical mechanism composed of bevel gears to achieve the necessary workspace in four degrees of freedom (DOF). Four DC motors drive the robot, with surgeon-in-the-loop control guided by an ergonomic joystick. The robot workspace has been validated experimentally, and motion trajectory experiments have shown robust and stable control. Use of the robot for camera guidance in porcine models is described. These experiments indicate superior functionality of the robot. Future work will involve integration of higher-function surgical tools with multiple CoBRASurge modules to create a complete, highly autonomous and portable MIS robot system for telesurgery.
APA, Harvard, Vancouver, ISO, and other styles
7

Rodríguez Islas, Lorena, Carlos Alberto Paredes Orta, and Fernando Martell-Chavez. "Coordinated Control of a Collaborative 6R Robotic Arm With a Virtual Twin and Augmented Reality for Engineering Education." In Methodologies and Use Cases on Extended Reality for Training and Education. IGI Global, 2022. http://dx.doi.org/10.4018/978-1-6684-3398-0.ch007.

Full text
Abstract:
This work describes the direct and inverse kinematics mathematical framework, the development procedure, and data communications interface for the implementation of an augmented reality version of a six degrees of freedom (6-DOF) cobot (collaborative robot) under the Unity platform. The kinematic equations for the inverse kinematic control of the Techman® cobot are presented. The procedure to achieve communication between the virtual robot and the physical robot is described, that is, the communication link from the TM5-900 robot with the application in Unity. A safe environment was created to manipulate the collaborative robot and to avoid collisions to validate the applicability of the augmented reality functionality. The virtual twin with its enhanced visualization based on augmented reality can also run-on mobile devices either locally or remotely accessed. The developed platform has diverse potential applications and in particular is suitable for engineering education and training in robotics.
APA, Harvard, Vancouver, ISO, and other styles
8

Su Hao, Camilo Alex, Cole Gregory A., Hata Nobuhiko, Tempany Clare M., and Fischer Gregory S. "High-Field MRI-Compatible Needle Placement Robot for Prostate Interventions." In Studies in Health Technology and Informatics. IOS Press, 2011. https://doi.org/10.3233/978-1-60750-706-2-623.

Full text
Abstract:
This paper presents the design of a magnetic resonance imaging (MRI) compatible needle placement system actuated by piezoelectric actuators for prostate brachytherapy and biopsy. An MRI-compatible modular 3 degree-of-freedom (DOF) needle driver module coupled with a 3-DOF x-y-z stage is proposed as a slave robot to precisely deliver radioactive brachytherapy seeds under interactive MRI guidance. The needle driver module provides for needle cannula rotation, needle insertion and cannula retraction to enable the brachytherapy procedure with the preloaded needles. The device mimics the manual physician gesture by two point grasping (hub and base) and provides direct force measurement of needle insertion force by fiber optic force sensors. The fabricated prototype is presented and an experiment with phantom trials in 3T MRI is analyzed to demonstrate the system compatibility.
APA, Harvard, Vancouver, ISO, and other styles
9

Forsslund Jonas, Chan Sonny, Selesnick Joshua, Salisbury Kenneth, Silva Rebeka G., and Blevins Nikolas H. "The Effect of Haptic Degrees of Freedom on Task Performance in Virtual Surgical Environments." In Studies in Health Technology and Informatics. IOS Press, 2013. https://doi.org/10.3233/978-1-61499-209-7-129.

Full text
Abstract:
Force and touch feedback, or haptics, can play a significant role in the realism of virtual reality surgical simulation. While it is accepted that simulators providing haptic feedback often outperform those that do not, little is known about the degree of haptic fidelity required to achieve simulation objectives. This article evaluates the effect that employing haptic rendering with different degrees of freedom (DOF) has on task performance in a virtual environment. Results show that 6-DOF haptic rendering significantly improves task performance over 3-DOF haptic rendering, even if computed torques are not displayed to the user. No significant difference could be observed between under-actuated (force only) and fully-actuated 6-DOF feedback in two surgically-motivated tasks.
APA, Harvard, Vancouver, ISO, and other styles
10

Salih Mahdi Alkhafaji, Falih. "Fabulous Design Speed Industrial Robotic Arm." In Human-Robot Interaction - Perspectives and Applications [Working Title]. IntechOpen, 2023. http://dx.doi.org/10.5772/intechopen.108755.

Full text
Abstract:
This chapter focuses on the design of a handling 5 Degree of freedom (DOF) robot arm model for industrial application. Optimal trajectory planning of industrial robots in the assembly line is a key topic to boost productivity in a variety of manufacturing activities. The aim is to improve the speed performance using multi techniques starting from estimating the transfer function of each manipulated joint, then designing the controller for each DOF reached to modeling arm motion. The designed model has been developed the structural design and testing motion characteristics by using SolidWorks and Simscape toolbox. To enhance the speed performance, it is proposed a High-Speed Proportional Integral Derivative controller (HSPID) based on an improved GA. The comparison response time between uncontrolled and controlled systems proves that the proposed controller produced extreme reduction responses to be measured within the Microsecond unit. Based on trajectory motion, the efficiency of the proposed method is assured by case study motions. The innovative design offers the best solution to rise accurate performance and productivity.
APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "6 degree of freedom (DOF) robot"

1

Zhang, Zhengming, Weiiun Wang, Wei Sun, et al. "Design for Collaborative Robot with 6 Degree of Freedom(DOF)." In 2024 10th International Conference on Electrical Engineering, Control and Robotics (EECR). IEEE, 2024. http://dx.doi.org/10.1109/eecr60807.2024.10607241.

Full text
APA, Harvard, Vancouver, ISO, and other styles
2

Menggala, Guruh Putra, Mochammad Sahal, Achmad Jazidie, and Imam Arifin. "Modeling Impedance Control of 2 Degree of Freedom (DoF) Robot." In 2024 IEEE 22nd Student Conference on Research and Development (SCOReD). IEEE, 2024. https://doi.org/10.1109/scored64708.2024.10872717.

Full text
APA, Harvard, Vancouver, ISO, and other styles
3

Wang, Hongye, Qianxu Wang, Weiwei Chen, Yinan Yang, and Haiyang Li. "Design and Research of a 6-Degree-of-Freedom Parallel Ankle Rehabilitation Robot Based on Compliant Spherical Joints." In 2024 World Rehabilitation Robot Convention (WRRC). IEEE, 2024. http://dx.doi.org/10.1109/wrrc62201.2024.10696618.

Full text
APA, Harvard, Vancouver, ISO, and other styles
4

Prosser, Daniel, and Marilyn Smith. "A Novel, High Fidelity 6-DoF Simulation Model for Tethered Load Dynamics." In Vertical Flight Society 70th Annual Forum & Technology Display. The Vertical Flight Society, 2014. http://dx.doi.org/10.4050/f-0070-2014-9572.

Full text
Abstract:
A novel, physics-based reduced-order model for the simulation of tethered loads and other dynamic bluff bodies in six-degree-of-freedom motion has been developed. The reduced-order aerodynamic model is founded on physical insights and supporting data from quasi-steady computational fluid dynamics simulations, experiments, or flight tests. The reduced-order model incorporates quasi-steady aerodynamics, unsteady vortex shedding phenomena, and unsteady aerodynamic effects of body motion. The reduced-order model accurately reproduces dynamics predicted by computational fluid dynamics simulations, while computational cost is reduced by more than five orders of magnitude. The methodology can readily be applied or extended to any bluff body geometry beyond those demonstrated in this work. Guidance is provided for the relatively minor modifications to include rotor downwash, atmospheric turbulence, and wind tunnel walls.
APA, Harvard, Vancouver, ISO, and other styles
5

Almonacid, Miguel, Sunil K. Agrawal, Rafael Aracil, and Roque J. Saltarén. "Multibody Dynamic Analysis of a 6-DOF Parallel Robot." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24605.

Full text
Abstract:
Abstract This paper presents the dynamic analysis of a six-degree of freedom (dof) parallel robot based on multibody dynamics. The robot is also known as Stewart-Gough platform. The inverse and forward dynamic analysis is presented based on the Newton-Euler formulation with the imposition of the constraints through Lagrange multipliers and the application of the principle of virtual work. The singularity problem within the workspace is also focused and 3D surfaces where the robot reach singular configurations are shown. Finally, simulations for the inverse and forward dynamic of the robot have been carried out showing the computational cost.
APA, Harvard, Vancouver, ISO, and other styles
6

Chen, Saixuan, Minzhou Luo, Omar Abdelaziz, and Guanwu Jiang. "A general analytical algorithm for collaborative robot (cobot) with 6 degree of freedom (DOF)." In 2017 International Conference on Applied System Innovation (ICASI). IEEE, 2017. http://dx.doi.org/10.1109/icasi.2017.7988522.

Full text
APA, Harvard, Vancouver, ISO, and other styles
7

Li, Dingzhong, Hong Lu, Yongquan Zhang, et al. "Trajectory Control of 6-DOF Welding Robot Based on STM32." In ASME 2022 17th International Manufacturing Science and Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/msec2022-85494.

Full text
Abstract:
Abstract Automatic welding technology has been widely used in China’s industrial production. Welding robots with the characteristics of high efficiency and high qualification rate began to appear in the industrial production line. However, in order to protect their own competitiveness, most companies use closed source control mode for welding robots, resulting in high control cost, low system openness and poor flexibility. Therefore, it is of great significance to design an open-source and low-cost six degree of freedom welding robot motion control system based on STM32 microcontroller. According to the requirements of motion control system, the development board of dual core processor is selected as the core to complete the hardware design of motion control system. The software design of the control system adopts the framework of cooperative work between the upper computer and the lower computer, and the upper computer is developed with software, which has good human-computer interaction function; The lower computer is programmed through the modular idea, which is convenient for secondary development and has good expansibility. According to the standard DH method, the trajectory planning of the 6-DOF robot is realized, and the S-type acceleration and deceleration algorithm and other related algorithms are used to realize its more efficient and smooth motion control.
APA, Harvard, Vancouver, ISO, and other styles
8

Jensen, Nathan A., and Carl A. Nelson. "Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85261.

Full text
Abstract:
While 6-leg, 6 DOF parallel robots offer advantages over serial mechanisms in many applications, they suffer from mobility limitation pertaining to both the maximum extension of links and link interference. The latter of these can be mitigated by a reduction of the number of links in the mechanism. The end-effector’s degrees of freedom are maintained by adding controllable degrees of freedom to the remaining legs. This paper presents a prototype of a previously proposed 3-leg, 6-DOF parallel robot. A measure of its workspace is also shown and compared to that of a similarly sized 6-leg parallel mechanism. Analysis of partial derivatives of Cartesian points with respect to joint angles is also explored to give a metric of expected performance in different regions of workspace.
APA, Harvard, Vancouver, ISO, and other styles
9

Nelson, Carl A. "A Fixed-Actuator Configuration for 3-Leg 6-DOF Robots." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67768.

Full text
Abstract:
For many fully parallel robots, the number of legs is generally equal to the number of degrees of freedom, with one actuated joint per leg. However, another subset of robots exists in which there are fewer legs and more actuated joints per leg. This paper presents a method of mounting rotary actuators on the fixed platform such that no actuator mass is added to the moving links. Examples of 6-DOF parallel robot variants are given based on this technique, with inverse kinematics, and the scope of extensibility to other topologies is briefly described.
APA, Harvard, Vancouver, ISO, and other styles
10

Tan-Phat, Phan, Paul C. P. Chao, and Huang Zih-Wei. "FPGA-Based Implementation of Torque Controller for 6-DOF Articulated Robots." In ASME 2021 30th Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/isps2021-65255.

Full text
Abstract:
Abstract This paper aims to design an impedance position-based proportional-integral-derivative (PID) controller based on forward and inverse kinematics of HIWIN RA605 articulated robot, and Field-Programmable Gate Array (FPGA) implementation for a PID torque controller. In order to control the robot, the FPGA needs to output commands to communicate with the AC servo motor drivers. An FPGA-based controller for a 6-degree-of-freedom (DOF) articulated robot that implements several tasks such as hardware implementation, encoder counters, noise cancellation algorithm, analog generators, PID controller, and communication are included, the processing time of the FPGA is 16 μs. Meanwhile, the whole process of the system only takes 82 μs to complete.
APA, Harvard, Vancouver, ISO, and other styles

Reports on the topic "6 degree of freedom (DOF) robot"

1

Lai, Chin-Ta, and Joel Conte. Dynamic Modeling of the UC San Diego NHERI Six-Degree-of-Freedom Large High-Performance Outdoor Shake Table. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2024. http://dx.doi.org/10.55461/jsds5228.

Full text
Abstract:
The UC San Diego Large High-Performance Outdoor Shake Table (LHPOST), which was commissioned on October 1, 2004 as a shared-use experimental facility of the National Science Foundation (NSF) Network for Earthquake Engineering Simulation (NEES) program, was upgraded from its original one degree-of-freedom (LHPOST) to a six degree-of-freedom configuration (LHPOST6) between October 2019 and April 2022. The LHPOST6 is a shared-use experimental facility of the NSF Natural Hazard Engineering Research Infrastructure (NHERI) program. A mechanics-based numerical model of the LHPOST6 able to capture the dynamics of the upgraded 6-DOF shake table system under bare table condition is presented in this report. The model includes: (i) a rigid body kinematic model that relates the platen motion to the motions of components attached to the platen, (ii) a hydraulic dynamic model that calculates the hydraulic actuator forces based on all fourth-stage servovalve spool positions, (iii) a hold-down strut model that determines the pull-down forces produced by the three hold-down struts, (iv) a 2-D and various 1-D Bouc-Wen models utilized to represent the dissipative forces in the shake table system, and (v) a 6-DOF rigid body dynamic model governing the translational and rotational motions of the platen subjected to the forces from the various components attached to the platen. In this report, the rigid body dynamics is studied utilizing the platen twist (combination of platen translational and rotational velocities) and wrench (combination of force and moment resultants acting on the platen) following principles from the robotic analysis literature. The numerical model of the LHPOST6 is validated extensively using experimental data from the acceptance tests performed following the shake table upgrade, and the model predictions of the shake table system response are found to be consistently in very good agreement with the experimental results for tri-axial and six-axial earthquake shake table tests. The validated mechanics-based numerical model of the LHPOST6 presented in this study can be coupled with finite element models of shake table test specimens installed on the rigid platen to study the dynamic interaction between the shake table system and the specimens. Another important potential use of the model is to improve the motion tracking performance of the LHPOST6 through either off-line tuning of the shake table controller and/or development of more advanced shake table controllers.
APA, Harvard, Vancouver, ISO, and other styles
2

Wissink, Andrew, Jude Dylan, Buvana Jayaraman, et al. New capabilities in CREATE™-AV Helios Version 11. Engineer Research and Development Center (U.S.), 2021. http://dx.doi.org/10.21079/11681/40883.

Full text
Abstract:
CREATE™-AV Helios is a high-fidelity coupled CFD/CSD infrastructure developed by the U.S. Dept. of Defense for aeromechanics predictions of rotorcraft. This paper discusses new capabilities added to Helios version 11.0. A new fast-running reduced order aerodynamics option called ROAM has been added to enable faster-turnaround analysis. ROAM is Cartesian-based, employing an actuator line model for the rotor and an immersed boundary model for the fuselage. No near-body grid generation is required and simulations are significantly faster through a combination of larger timesteps and reduced cost per step. ROAM calculations of the JVX tiltrotor configuration give a comparably accurate download prediction to traditional body-fitted calculations with Helios, at 50X less computational cost. The unsteady wake in ROAM is not as well resolved, but wake interactions may be a less critical issue for many design considerations. The second capability discussed is the addition of six-degree-of-freedom capability to model store separation. Helios calculations of a generic wing/store/pylon case with the new 6-DOF capability are found to match identically to calculations with CREATE™-AV Kestrel, a code which has been extensively validated for store separation calculations over the past decade.
APA, Harvard, Vancouver, ISO, and other styles
You might also be interested in the extended bibliographies on the topic '6 degree of freedom (DOF) robot' for particular source types:
Journal articles
We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!

To the bibliography