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Journal articles on the topic 'Articulated robotic manipulator'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Dharmendra, Kumar Patel, K. Ramachandra, and Singh Sartaj. "Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator." Applied Mechanics and Materials 612 (August 2014): 51–58. http://dx.doi.org/10.4028/www.scientific.net/amm.612.51.

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This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator

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2

Corves, Burkhard, and Amir Shahidi. "Kinematic Graph for Motion Planning of Robotic Manipulators." Robotics 11, no. 5 (2022): 105. http://dx.doi.org/10.3390/robotics11050105.

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We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinematic graph emphasises the fact that any path computed by sampling-based motion planning algorithms using a kinematic graph is guaranteed to correspond to a feasible motion for the positioning of the robotic manipulator. We propose methods to combine the information from the configuration and task spac

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Giang, Truong Thi Huong, and Young-Jae Ryoo. "Autonomous Robotic System to Prune Sweet Pepper Leaves Using Semantic Segmentation with Deep Learning and Articulated Manipulator." Biomimetics 9, no. 3 (2024): 161. http://dx.doi.org/10.3390/biomimetics9030161.

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This paper proposes an autonomous robotic system to prune sweet pepper leaves using semantic segmentation with deep learning and an articulated manipulator. This system involves three main tasks: the perception of crop parts, the detection of pruning position, and the control of the articulated manipulator. A semantic segmentation neural network is employed to recognize the different parts of the sweet pepper plant, which is then used to create 3D point clouds for detecting the pruning position and the manipulator pose. Eventually, a manipulator robot is controlled to prune the crop part. This

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Bamdad, Mahdi, and M. Mehdi Bahri. "Kinematics and Manipulability Analysis of a Highly Articulated Soft Robotic Manipulator." Robotica 37, no. 5 (2019): 868–82. http://dx.doi.org/10.1017/s0263574718001376.

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SummaryRecently, the idea of applying “jamming” of appropriate media has been exploited for a novel continuum robot design. It is completed by applying vacuum in a robot structure filled with granular media. The backbone deformation and motion are achieved by controlling the fluid pressure. A jammable robotic manipulator does not certainly follow constant curvature during bending, that is, gravitational loads cause section sag. The kinematics describes the deformation of continuum manipulators. This formulation is expected to facilitate additional synthesis and analysis on workspace. This pape

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Chukwuemeka, C. Obasi, A. Braimoh Ikharo, Odaba Alphaeus, Iyase Ogbewey Leonard, and A. Oluyomi Bambe. "Dynamics of 3 – Links Articulated Robotic Manipulator: A Computational Model." International Journal of Engineering and Advanced Technology (IJEAT) 9, no. 3 (2020): 1911–15. https://doi.org/10.35940/ijeat.C5370.029320.

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Dynamic computation include the process of determining the forces and energies that would cause a manipulator to move certain distance at a given angle. The complex nature of available materials has made this process difficult. The dynamics equation for a 3-links robotic manipulator was designed using the Lagrange archetypal. The result shows that the energies (including Potential and Kinetic Energy) as well as the torques required to cause motion at each joint can be computed separately. The torque equations represents the dynamic models required.

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CHEN, CHUXIN, and MOHAN M. TRIVEDI. "SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 07, no. 01 (1993): 123–44. http://dx.doi.org/10.1142/s021800149300008x.

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A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused

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Soylu, Serdar, Bradley J. Buckham, and Ron P. Podhorodeski. "USING ARTICULATED BODY ALGORITHM WITHIN SLIDING-MODE CONTROL TO COMPENSATE DYNAMIC COUPLING IN UNDERWATER-MANIPULATOR SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (2005): 629–43. http://dx.doi.org/10.1139/tcsme-2005-0041.

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A control scheme is presented for compensating dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle position and orientation and are the source of the vehicle-manipulator coupling. In many underwater robotic vehicle-manipulator (URVM) applications, the URV serves as a base while the manipulator performs a required task. Therefore, it is necessary to hold the URV as stationary as possible. In

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Sujan, Vivek A., and Steven Dubowsky. "Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator." Journal of Mechanical Design 126, no. 1 (2004): 29–39. http://dx.doi.org/10.1115/1.1637647.

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This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.

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9

Emmanuel, C. Agbaraji, C. Inyiama Hyacinth, and C. Okezie Christiana. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. https://doi.org/10.9734/PSIJ/2017/33578.

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non neg

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Fue, Kadeghe, Wesley Porter, Edward Barnes, Changying Li, and Glen Rains. "Center-Articulated Hydrostatic Cotton Harvesting Rover Using Visual-Servoing Control and a Finite State Machine." Electronics 9, no. 8 (2020): 1226. http://dx.doi.org/10.3390/electronics9081226.

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Multiple small rovers can repeatedly pick cotton as bolls begin to open until the end of the season. Several of these rovers can move between rows of cotton, and when bolls are detected, use a manipulator to pick the bolls. To develop such a multi-agent cotton-harvesting system, each cotton-harvesting rover would need to accomplish three motions: the rover must move forward/backward, turn left/right, and the robotic manipulator must move to harvest cotton bolls. Controlling these actions can involve several complex states and transitions. However, using the robot operating system (ROS)-indepen

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Mavroidis, Constantinos, Kathryn J. DeLaurentis, Jey Won, and Munshi Alam. "Fabrication of Non-Assembly Mechanisms and Robotic Systems Using Rapid Prototyping." Journal of Mechanical Design 123, no. 4 (2000): 516–24. http://dx.doi.org/10.1115/1.1415034.

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In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms is presented. Using two Rapid Prototyping techniques, Stereolithography and Selective Laser Sintering, prototypes of mechanical mobile joints were fabricated. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator, (2) a four degree-of-freedom finger of a five-fingered robotic hand. These complex multi-articulated, multi-link, multi-loop systems have been fa

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Korendiy, Vitaliy, Oleksandr Kachur, Mykhailo Pylyp, Roman Karpyn, Andy Augousti, and Olena Lanets. "DESIGN AND KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR FOR CONTROLLING FIRE MONITORS." Ukrainian Journal of Mechanical Engineering and Materials Science 11, no. 2 (2025): 10–26. https://doi.org/10.23939/ujmems2025.02.010.

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Problem statement. Conventional firefighting methods expose personnel to significant risks, particularly in hazardous environments. Robotic systems, specifically manipulators for controlling fire monitors, offer a safer and more efficient alternative by enabling precise delivery of extinguishing agents. However, their effective deployment necessitates a thorough understanding of their kinematic capabilities and limitations. Purpose. This research aims to conduct a comprehensive design and kinematic analysis of a five-degree-of-freedom (5-DOF) articulated robotic manipulator tailored for contro

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Iqbal, J. "Modern Control Laws for an Articulated Robotic Arm: Modeling and Simulation." Engineering, Technology & Applied Science Research 9, no. 2 (2019): 4057–61. http://dx.doi.org/10.48084/etasr.2598.

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The robotic manipulator has become an integral component of modern industrial automation. The current paper deals with the mathematical modeling and non-linear control of this manipulator. DH-parameters are used to derive kinematic model while the dynamics is based on Euler-Lagrange equation. Two modern control strategies, H∞ and model predictive control (MPC), are investigated to develop the control laws. For an optimal performance, the controllers have been fine-tuned through a simulation conducted in MATLAB/Simulink environment. The designed control laws are subjected to various inputs and

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14

Iqbal, Jamshed. "Modern Control Laws for an Articulated Robotic Arm: Modeling and Simulation." Engineering, Technology & Applied Science Research 9, no. 2 (2019): 4057–61. https://doi.org/10.5281/zenodo.2648027.

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The robotic manipulator has become an integral component of modern industrial automation. The current paper deals with the mathematical modeling and non-linear control of this manipulator. DH-parameters are used to derive kinematic model while the dynamics is based on Euler-Lagrange equation. Two modern control strategies, H& and model predictive control (MPC), are investigated to develop the control laws. For an optimal performance, the controllers have been fine-tuned through a simulation conducted in MATLAB/Simulink environment. The designed control laws are subjected to various inputs

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15

Rauchfuss, Jason W., and Daniel C. H. Yang. "A Geometric Approach for Determining Exact Point Accessibility of Robotic Manipulations." Journal of Mechanical Design 122, no. 3 (1997): 287–93. http://dx.doi.org/10.1115/1.1286084.

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This paper presents a method of determining the exact point accessibility for an articulated manipulator with joint limits in both the regional and wrist structures. The method is based on the derivation of constraint equations, which define boundary curves on the service sphere separating accessible and non-accessible regions. These constraint equations are defined individually in each specially selected coordinate frame, called the “neutral coordinate frame.” The boundary curves on the service sphere may arise from both regional structure joint limits and wrist joint limits. The resulting co

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16

Kumar, Pankaj, and Dr R. K. Gupta. "Simulation of Articulated Robotic Manipulator & It’s Application in Modern Industries." IOSR Journal of Mechanical and Civil Engineering 11, no. 3 (2014): 01–07. http://dx.doi.org/10.9790/1684-11320107.

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17

Šarloši, Juraj, Róbert Surovec, Ondrej Šimko, Jaromír Jezný, Ladislav Vargovčík, and Martin Varga. "Early-Stage Design of Robotic Manipulator Using Dual Visual Perception." Applied Mechanics and Materials 611 (August 2014): 316–24. http://dx.doi.org/10.4028/www.scientific.net/amm.611.316.

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Many service mobile robots have an articulated robotic manipulator mounted on their platform. The mobile platform extends the workspace of the arm, whereas the arm offers several operational functionalities. The basic idea is to mount two cameras to the robotic arm. One camera provides the perception of the surrounding environment and navigation of the robot, the second one located on the robot arm provides for the perception of the object of cooperation. This paper deals with an early-stage design process of the mentioned robotic manipulator using dual visual perception. It includes kinematic

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18

Ali, Khurram, Adeel Mehmood, Israr Muhammad, Sohail Razzaq, and Jamshed Iqbal. "Control of an Anthropomorphic Manipulator using LuGre Friction Model - Design and Experimental Validation." Strojniški vestnik – Journal of Mechanical Engineering 67, no. 9 (2021): 401–10. http://dx.doi.org/10.5545/sv-jme.2021.7258.

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Automation technology has been extensively recognized as an emerging field in various industrial applications. Recent breakthrough in flexible automation is primarily due to deployment of robotic arms or manipulators. Autonomy in these manipulators is essentially linked with the advancements in non-linear control systems. The objective of this research is to propose a robust control algorithm for a five degree of freedom (DOF) robotic arm to achieve superior performance and reliability in the presence of friction. A friction compensation-based non-linear control has been proposed and realized

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19

Jarvis, R. A. "3D Shape and surface colour sensor fusion for robot vision." Robotica 10, no. 5 (1992): 389–96. http://dx.doi.org/10.1017/s0263574700010596.

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SUMMARYThis paper argues the case for extracting as complete a set of sensory data as practicable from scenes consisting of complex assemblages of objects with the goal of completing the task of scene analysis, including placement, pose, identity and relationship amongst the components in a robust manner which supports goal directed robotic action, including collision-free trajectory planning, grip site location and manipulation of selected object classes.The emphasis of the paper is that of sensor fusion of range and surface colour data including preliminary results in proximity, surface norm

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20

Ibaraki, Soichi, and Andreas Archenti. "Special Issue on New Technologies for Robotic Manipulators and Their Industrial Applications." International Journal of Automation Technology 15, no. 5 (2021): 565–66. http://dx.doi.org/10.20965/ijat.2021.p0565.

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The industrial robot is more precisely an “automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile” (ISO 8373:2012). According to the International Federation of Robotics, by 2018, more than 400,000 new units were being installed annually, and the global average robot density in the manufacturing industry was 99 robots per 10,000 employees. More than 30% of all installed robots were in the automotive industry, the biggest customer for robots. Research on measuring and calibrating, modeling, programming

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Stepanenko, Y., and T. S. Sankar. "Position and Force-Reflecting Accuracy of Remote Manipulators." Transactions of the Canadian Society for Mechanical Engineering 9, no. 3 (1985): 151–56. http://dx.doi.org/10.1139/tcsme-1985-0022.

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Remote master-slave manipulators are treated as a system of two articulated spatial mechanisms with elastic connections, A relative dislacement of the “slave” mechanism with respect to its “master” kinematic replica results in a distortion of the force reflecting information. This distortion may be significant in particular regions of the configuration space and for certain special positions of the mechanisms. Force-reflecting errors of the model are analysed as functions of the position and orientation of the manipulator and various loads. This analysis results in a torque compensating algori

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Schütz, Damien, and J. H. Hepworth. "uArm Swift simulation and control." MATEC Web of Conferences 406 (2024): 04014. https://doi.org/10.1051/matecconf/202440604014.

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This paper investigates the development of a kinematic solution and simulated model of the uArm Swift Pro, a vertically articulated robot with three degrees of freedom. This robotic manipulator is specifically designed for recreational purposes and thus can be used as an educational tool for engineering students. A mathematical solution was developed which showcases how the robot moves and orientates itself when given desired output configurations. Furthermore, this analytical solution was implemented in Simulink to visually demonstrate the effects of changing parameters such as the joint angl

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23

Hua, Bin, Yi Lin Chi, Xue Jun Wang, Quan Bai, and Wei Zhong. "Study on Kinematics Simulation of Multi-Joint Robotic Gripper Based on ADAMS." Applied Mechanics and Materials 444-445 (October 2013): 1384–88. http://dx.doi.org/10.4028/www.scientific.net/amm.444-445.1384.

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The article describes how we can use the virtual prototyping technology validate mechanism design of multi-joint manipulator and its grabbing performance and loading abilities per minute. It completes the three-dimensional model of virtual prototype with Solid Edge ST5, and be imported into ADAMS software. And then the manipulator kinematics simulation is carried out in ADAMS. Using the kinematics simulation technology of ADAMS, we can get the various joints in a working cycle of the displacement characteristic curve, the velocity and acceleration curves of working conditions. This paper intro

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Colucci, Giovanni, Andrea Botta, Luigi Tagliavini, Paride Cavallone, Lorenzo Baglieri, and Giuseppe Quaglia. "Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture." Machines 10, no. 5 (2022): 321. http://dx.doi.org/10.3390/machines10050321.

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In recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovative robotic solutions. This paper presents the kinematic model and a motion planning pipeline for a mobile manipulator specifically designed for precision agriculture applications, such as crop sampling and monitoring, formed by a novel articulated mobile base and a commercial collaborative manipulator with seven degrees of freedom. Starting from the models of

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Fujie, Hiromichi, Kiyoshi Mabuchi, Savio L. Y. Woo, Glen A. Livesay, Shinji Arai, and Yukio Tsukamoto. "The Use of Robotics Technology to Study Human Joint Kinematics: A New Methodology." Journal of Biomechanical Engineering 115, no. 3 (1993): 211–17. http://dx.doi.org/10.1115/1.2895477.

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Robotics technologies have been modified to control and measure both the force and position of synovial joints for the study of joint kinematics. One such system was developed to perform kinematic testing of a human joint. A 6-axis articulated robotic manipulator with 6 degrees of freedom (DOF) of motion was designed and constructed; a mathematical description for joint force and position was devised; and hardware and software to control forces applied to the joint, as well as position of the joint, were developed. The new methodology was utilized to simulate physiological loading conditions a

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Agbaraji, Emmanuel, Hyacinth Inyiama, and Christiana Okezie. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. http://dx.doi.org/10.9734/psij/2017/33578.

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Bhave, Manjusha, S. Janardhanan, and Lillie Dewan. "A smart higher order sliding mode control of rigid articulated robotic manipulator with passive joints." International Journal of Modelling, Identification and Control 23, no. 3 (2015): 260. http://dx.doi.org/10.1504/ijmic.2015.069933.

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Lee, Minsik, Min-Seok Cho, Hoyeon Lee, Hyekyun Chung, and Byungchul Cho. "Simulation and Experimental Studies of Real-Time Motion Compensation Using an Articulated Robotic Manipulator System." Progress in Medical Physics 28, no. 4 (2017): 171. http://dx.doi.org/10.14316/pmp.2017.28.4.171.

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Sharkawy, Abdel-Nasser, and Shawkat Sabah Khairullah. "Forward and Inverse Kinematics Solution of A 3-DOF Articulated Robotic Manipulator Using Artificial Neural Network." International Journal of Robotics and Control Systems 3, no. 2 (2023): 330–53. http://dx.doi.org/10.31763/ijrcs.v3i2.1017.

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In this research paper, the multilayer feedforward neural network (MLFFNN) is architected and described for solving the forward and inverse kinematics of the 3-DOF articulated robot. When designing the MLFFNN network for forward kinematics, the joints' variables are used as inputs to the network, and the positions and orientations of the robot end-effector are used as outputs. In the case of inverse kinematics, the MLFFNN network is designed using only the positions of the robot end-effector as the inputs, whereas the joints’ variables are the outputs. For both cases, the training of the propo

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Fazilat, Mehdi, and Nadjet Zioui. "The Impact of Simplifications of the Dynamic Model on the Motion of a Six-Jointed Industrial Articulated Robotic Arm Movement." Journal of Robotics and Control (JRC) 5, no. 1 (2024): 173–86. http://dx.doi.org/10.18196/jrc.v5i1.20263.

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This research investigates the impact of model simplification on the dynamic performance of an ABB IRB-140 six-jointed industrial robotic arm, concentrating on torque prediction and energy consumption. The entire mathematical model of forward, reverse, differential kinematics, and dynamic model proposed based on the technical specifications of the arm, and to obtain the center of the mass and inertia matrices, which are essential components of the dynamic model, Utilizing Solidworks, we developed three CAD/CAM models representing the manipulator with varying detail levels, such as simplified,

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Ota, Takeyoshi, Amir Degani, Brett Zubiate, et al. "Epicardial Atrial Ablation Using a Novel Articulated Robotic Medical Probe via a Percutaneous Subxiphoid Approach." Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery 1, no. 6 (2006): 335–40. http://dx.doi.org/10.1097/imi.0b013e31802f43b1.

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Objective Minimally invasive epicardial atrial ablation to cure atrial fibrillation through the use of a percutaneous subxiphoid approach currently has a lack of dedicated technology for intrapericardial navigation around the beating heart. We have developed a novel articulated robotic medical probe and performed preliminary experiments in a porcine preparation. Methods In five large, healthy pigs, the teleoperated robotic system was introduced inside the pericardial space through a percutaneous subxiphoid approach. Secondary visualization of the left atrium and left atrial appendage was achie

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Ramírez-Gordillo, J., J. J. Muñoz-César, A. Gómez-Terán, A. Valencia-Lazcano, and A. L. Soria-Moya. "Trajectory Generation of Robot Manipulators Using an Artificial Potential Function and Genetic Algorithms." Applied Mechanics and Materials 15 (August 2009): 73–78. http://dx.doi.org/10.4028/www.scientific.net/amm.15.73.

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This work presents the problem of trajectory generation based on the use of artificial potential fields associated to articulated robotic manipulators, in order to find a trajectory so that a manipulator reaches a goal from an initial position without colliding with obstacles within its workspace. The search of a continuous sequence of collision-free configurations between an initial configuration and the final position implies the exploration of a non-linear solution space which can be described and solved with an optimization approach. It does not take into account the use of complex mathema

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Karupusamy, Selvaraj, Sundaram Maruthachalam, and Balaji Veerasamy. "Kinematic Modeling and Performance Analysis of a 5-DoF Robot for Welding Applications." Machines 12, no. 6 (2024): 378. http://dx.doi.org/10.3390/machines12060378.

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Robotic manipulators are critical for industrial automation, boosting productivity, quality, and safety in various production applications. Key factors like the payload, speed, accuracy, and reach define robot performance. Optimizing these factors is crucial for future robot applications across diverse fields. While 6-Degrees-of-Freedom (DoF)-articulated robots are popular due to their diverse applications, this research proposes a novel 5-DoF robot design for industrial automation, featuring a combination of three prismatic and two revolute (2R) joints, and analyzes its workspace. The propose

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Dawood Salman, Hasan, Mohsin Noori Hamzah, and Sadeq Hussein Bakhy. "KINEMATICS ANALYSIS AND IMPLEMENTATION OF THREE DEGREES OF FREEDOM ROBOTIC ARM BY USING MATLAB." IRAQI JOURNAL FOR MECHANICAL AND MATERIALS ENGINEERING 21, no. 2 (2021): 118–29. http://dx.doi.org/10.32852/iqjfmme.v21i2.547.

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The kinematics modeling of the robot arm plays an important role in robot control. This paper presents the kinematic model of a three-degree of freedom articulated robot arm, which is designed for picking and placing an application with hand gripper, where a robot has been manufactured for that purpose. The forward kinematic model has been presented in order to determine the end effector’s poses using the Denavit-Hartenberg (DH) convention. For inverse kinematics, an algebraic solution based on trigonometric formulas mixed with geometric method was adopted for a 3 DOF modular manipulator takin

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Chand, Ravinesh, Ronal Pranil Chand, and Sandeep Ameet Kumar. "Switch controllers of an n-link revolute manipulator with a prismatic end-effector for landmark navigation." PeerJ Computer Science 8 (February 11, 2022): e885. http://dx.doi.org/10.7717/peerj-cs.885.

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Robotic arms play an indispensable role in multiple sectors such as manufacturing, transportation and healthcare to improve human livelihoods and make possible their endeavors and innovations, which further enhance the quality of our lives. This paper considers such a robotic arm comprised of n revolute links and a prismatic end-effector, where the articulated arm is anchored in a restricted workspace. A new set of stabilizing switched velocity-based continuous controllers was derived using the Lyapunov-based Control Scheme (LbCS) from the category of classical approaches where switching of th

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Ashagrie, Aderajew, Ayodeji Olalekan Salau, and Tilahun Weldcherkos. "Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller." Cogent Engineering 8, no. 1 (2021): 1950105. http://dx.doi.org/10.1080/23311916.2021.1950105.

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Shen, Tao, Dietric Hennings, Carl A. Nelson, and Dmitry Oleynikov. "Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery." Surgical Innovation 25, no. 4 (2018): 364–73. http://dx.doi.org/10.1177/1553350618781225.

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Natural orifice transluminal endoscopic surgery (NOTES) has gained attention as a revolutionary technique with its potential advantages in eliminating skin incisions, shortening recovery time, and decreasing postoperative complications; however, its practical application is still constrained by the complexity of navigation through the surgical field and paucity of available instruments. Current progress on NOTES focuses on designing flexible articulated robots or fully inserted bimanual robots to address the limitations. However, the lack of multitasking tools, trade-offs between size and powe

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Andrjejev, Yuriy Mihailovich. "Implementation and use of the Levenberg-Marquard algorithm in the problems of calibration of robotic manipulators." Bulletin of the National Technical University «KhPI» Series: Dynamics and Strength of Machines, no. 2 (December 31, 2021): 86–93. http://dx.doi.org/10.20998/2078-9130.2021.2.249537.

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The well-known problem of calibration of an arbitrary robotic manipulator, which is formulated in the most general form, is considered. To solve the direct problem of kinematics, an alternative to the Denavit-Hartenberg method, a universal analytical description of the kinematic scheme, taking into account possible errors in the manufacture and assembly of robot parts, is proposed. At the same time, a universal description of the errors in the orientation of the axes of the articulated joints of the links is proposed. On the basis of such a description, the direct and inverse problem of kinema

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Akulenko, L., N. Bolotnik, D. Leshchenko, and E. Palii. "ON INERTIAL MOTION OF AN ABSOLUTELY RIGID BODY ON A THREE-DEGREE SUSPENSION WITH LINKS OF FINITE LENGTH." Mechanics And Mathematical Methods 2, no. 2 (2020): 6–17. http://dx.doi.org/10.31650/2618-0650-2020-2-2-6-17.

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Papers on the dynamics of an absolutely rigid body with a fixed point generally assume that the mechanical system has three degrees of freedom. This is the situation when the body is attached to a fixed base by a ball-and-socket joint. On engineering systems one often encounters rigid bodies attached to a base by a two-degrees-of-freedom joint, consisting of a fixed axis and a movable one, which are mutually perpendicular. Such systems have two degrees of freedom, but the set of kinematically possible motions is quite rich. Dynamic analysis of the motion of a rigid body with a two-degree hinge

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D’Angelo, Simone, Salvatore Marcellini, Alessandro De Crescenzo, Michele Marolla, Vincenzo Lippiello, and Bruno Siciliano. "A Semi-Autonomous Aerial Platform Enhancing Non-Destructive Tests." Drones 9, no. 8 (2025): 516. https://doi.org/10.3390/drones9080516.

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The use of aerial robots for inspection and maintenance in industrial settings demands high maneuverability, precise control, and reliable measurements. This study explores the development of a fully customized unmanned aerial manipulator (UAM), composed of a tilting drone and an articulated robotic arm, designed to perform non-destructive in-contact inspections of iron structures. The system is intended to operate in complex and potentially hazardous environments, where autonomous execution is supported by shared-control strategies that include human supervision. A parallel force–impedance co

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Chen, Peihua, and Qixin Cao. "Development of a Remote Handling Robot for the Maintenance of an ITER-Like D-Shaped Vessel." Science and Technology of Nuclear Installations 2014 (2014): 1–9. http://dx.doi.org/10.1155/2014/526520.

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Robotic operation is one of the major challenges in the remote maintenance of ITER vacuum vessel (VV) and future fusion reactors as inner operations of Tokamak have to be done by robots due to the internal adverse conditions. This paper introduces a novel remote handling robot (RHR) for the maintenance of ITER-like D-shaped vessel. The modular designed RHR, which is an important part of the remote handling system for ITER, consists of three parts: an omnidirectional transfer vehicle (OTV), a planar articulated arm (PAA), and an articulated teleoperated manipulator (ATM). The task of RHR is to

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Palma, Piotr, Karol Seweryn, and Tomasz Rybus. "Impedance Control Using Selected Compliant Prismatic Joint in a Free-Floating Space Manipulator." Aerospace 9, no. 8 (2022): 406. http://dx.doi.org/10.3390/aerospace9080406.

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The success of space missions like capture-and-deorbit or capture-and-service relies on the ability of the capturing satellite to establish a stable mechanical connection by its gripping tool with the object being intercepted. Most of the potential objects of capture missions are not equipped with dedicated docking ports; hence, the satellite robot intercepting them will have to provide the mechanical compliance necessary for the safe establishment of contact between the two structures. Articulated robotic arms with controlled mechanical impedance are one set of promising solutions for this ch

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Wu, Haoting, Meng Yin, Zhigang Xu, Zhiliang Zhao, and Wei Han. "Transmission Characteristics Analysis and Compensation Control of Double Tendon-sheath Driven Manipulator." Sensors 20, no. 5 (2020): 1301. http://dx.doi.org/10.3390/s20051301.

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The double tendon-sheath drive system is widely used in the design of surgical robots and search and rescue robots because of its simplicity, dexterity, and long-distance transmission. We are attempting to apply it to manipulators, wherenon-linear characteristics such as gaps, hysteresis, etc., due to friction between the contact surfaces of the tendon sheath and the flexibility of the rope, are the main difficulties in controlling such manipulators. Most of the existing compensation control methods applicable to double tendon-sheath actuators are offline compensation methods that do not requi

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Tolstyh, Andrey, D. Stupnikov, Sergey Malyukov, Aleksandr Luk'yanov, and Yuriy Lunev. "APPLICATION OF LEARNING REINFORCEMENT METHOD IN ROBOTIZED AND AUTOMATED FORESTRY SYSTEMS." Forestry Engineering Journal 10, no. 1 (2020): 256–65. http://dx.doi.org/10.34220/issn.2222-7962/2020.1/19.

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Abstract Currently, most large enterprises are actively using industrial robots and other automated solutions. This allows a significant increase in productivity and quality of work performed. This article gave a brief overview of modern industrial robots, their operating principle, basic components and systems. A reinforcement learning algorithm was developed and tested. The task of constructing a learning algorithm with reinforcement was divided into two stages: modeling the environment and description and optimization of the cost function. Since industrial robotic systems operate in t

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Huang, Hsu-Chih, Sendren Sheng-Dong Xu, and Chang Han Wu. "A hybrid swarm intelligence of artificial immune system tuned with Taguchi–genetic algorithm and its field-programmable gate array realization to optimal inverse kinematics for an articulated industrial robotic manipulator." Advances in Mechanical Engineering 8, no. 1 (2016): 168781401562638. http://dx.doi.org/10.1177/1687814015626380.

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Zeng, Hongliang, Ping Zhang, Fang Li, QinPeng Yi, Tingyu Ye, and Jiahua Wang. "GMAP: Generalized Manipulation of Articulated Objects in Robotic Using Pre-trained Model." Proceedings of the AAAI Conference on Artificial Intelligence 39, no. 14 (2025): 14736–44. https://doi.org/10.1609/aaai.v39i14.33615.

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Perception and interaction with articulated objects present a unique challenge for service robots. Although recent research has emphasized understanding articulated shapes and affordance proposals, existing methods only address isolated aspects, failing to develop comprehensive strategies for robotic perception and manipulation of articulated objects. To bridge this gap, we propose GMAP, which systematically integrates the entire process from command to perception and manipulation. Specifically, we first perform precise part-level segmentation of the object and identify the geometric and kinem

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Sturm, J., C. Stachniss, and W. Burgard. "A Probabilistic Framework for Learning Kinematic Models of Articulated Objects." Journal of Artificial Intelligence Research 41 (August 30, 2011): 477–526. http://dx.doi.org/10.1613/jair.3229.

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Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as kinematic graphs. Vertices in this graph correspond to object parts, while edges between them model their kinematic relationship. In particular, we present a set of parametric and non-parametric edge models and how they can robustly be estimated from noisy pose observations. We furthermore describe how to estimate the kinematic structure and how to use the lea

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Paolillo, Antonio, Kevin Chappellet, Anastasia Bolotnikova, and Abderrahmane Kheddar. "Interlinked Visual Tracking and Robotic Manipulation of Articulated Objects." IEEE Robotics and Automation Letters 3, no. 4 (2018): 2746–53. http://dx.doi.org/10.1109/lra.2018.2835515.

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Stansfield, Sharon A. "Haptic Perception with an Articulated, Sensate Robot Hand." Robotica 10, no. 6 (1992): 497–508. http://dx.doi.org/10.1017/s0263574700005828.

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SUMMARYIn this paper we present a series of haptic exploratory procedures, or EPs, implemented for a multi-fingered, articulated, sensate robot hand. These EPs are designed to extract specific tactile and kinesthetic information from an object via their purposive invocation by an intelligent robotic system. Taken together, they form an active robotic touch perception system to be used both in extracting information about the environment for internal representation and in acquiring grasps for manipulation. The theory and structure of this robotic haptic system is based upon models of human hapt

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Jakubiec, Beata, and Krystian Sokoliński. "Educational manipulation robot." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (2019): 336–39. http://dx.doi.org/10.24136/atest.2019.062.

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The article presents a project of the small articulated, educational robot with five degrees of freedom. There were described elements of the mechanical part of the structure and the control system based on LabVIEW and the Arduino platform. Apart of steerage and simple programming of manipulators movements, a measuring system was created using the created graphical interface. It allows you to register and visualize the basic parameters of the robot servo drives. The system consists of two basic components: the subsystem of current acquisition and servo voltages, the data processing subsystem.

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