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Dissertations / Theses on the topic 'DoF Robot ARM in the simulator'

Author: Grafiati

Published: 5 June 2025

Last updated: 15 July 2025

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1

Xu, Xingsheng. "Design and Construction of 9-DOF Hyper-Redundant Robotic Arm." University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629.

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2

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.

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3

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.

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4

Wu, Ching-Fang, and 吳青芳. "A Study on 4 DOF Dual-Joint Robot Arm." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/76542363988749247350.

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碩士<br>國立交通大學<br>機械工程學系<br>100<br>Robot was invented in 1950s. Robot arm is widely used in industry and daily life. This research applied the transmission mechanism to control the joint movement of robot arm. This design effectively decelerates and accelerates joints through speed difference between motors so that the robot arm can swift back and forth quickly. The research begins with kinematic analysis. The wrist location in the space is determined by Denavit-Hartengerg notations when rotation angles at joints and displacements between links are known. This study in turn emolys Lagrange’s equ

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5

Li, Shao-Fong, and 李紹峰. "Development and production of lightweight six-DOF robot arm." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/29618329226951652848.

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碩士<br>國立臺灣科技大學<br>材料科學與工程系<br>100<br>In recently years, intelligent robots have been matured increasingly, the robot arm system claims our attention because it can do autonomous precise assembly task; large-scale or the heavy-scale transporting work; As the progress, people have developed numerous types of robots to meet different demands. Nothing more than speed, precision, and the workspace are the main functions we will stress on robots. This paper aims at building up a high-speed and high-precision robot arm. We design joint components basing on the target functions. By estimating the requ

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6

Huang, Cheng-Chieh, and 黃政傑. "Dynamic Analysis of a 6-DOF FOXBOT Robot Arm." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/19133267810718843823.

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碩士<br>國立勤益科技大學<br>機械工程系<br>99<br>This paper studies the dynamics of the Foxconn FOXBOT 6-DOF robot arm. The mathematical model was derived and some dynamic simulations were performed. The governing kinematic equations between the end-effector and the joints of the arm were derived, and they were based on the forward kinematics and the inverse kinematics. The governing kinetic equations were based on the Newton Euler dynamic equations. To define the motion of the robot arm, three different trajectory planning were used. The first one was the joint space trajectory planning by the method of line

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7

Chang, Te-Hui, and 張德翬. "Null Space Control Based 6-DOF Robot Arm 3D Printing." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/61671161601057571309.

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碩士<br>國立臺灣大學<br>機械工程學研究所<br>104<br>Though 3D printing has received great attention, only few researches carries out the topic of combining robotic manipulators and 3D printing. This thesis, we integrate the robot with 3D printing. The proposed system utilizes the feature of high degrees of freedom and large workspace of a robot to extend the application level of 3D printing. We divided into 2 parts. In the first part, for solving problems like joint limit avoidance and singularity avoidance, 3 potential fields have been constructed in null-space control. In addition, a faster and easier way of

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8

CHENG, MING-YANG, and 程明陽. "Multiple DOF Exoskeleton Bionic Robot Arm For Brainwave Remote Control A Mobile Robot." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/q6yhxx.

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碩士<br>國立高雄科技大學<br>電機工程系<br>107<br>Up to Now it has been possible to monitor the state of human brain activity through brainwaves with the advancement of technology. In this study, a single-pole brainwave headset developed by NeuroSky Technology was employed to develop a Brain Computer Interface that uses brain waves to communicate with computers and external devices. Then, the Zenbo home-based robot developed by Asus is combined with a bionic robot arm and real-time controlled by the human body posture to complete a grasping robot. Using the brain wave signal generated by eye movement as the i

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9

KORNMANEESANG, WORAPHRUT, and 郭文平. "Contouring Control of a 5-DOF Dual-Arm Robot for Machining." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/m85544.

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碩士<br>國立中正大學<br>前瞻製造系統碩士學位學程<br>106<br>The purpose of this thesis is to study the dynamics of a 5-DOF dual-arm robot and its holonomic constraints during grasping a workpiece and to design the contouring controller for machining. With the constraints addressed by utilizing the existing forward kinematics of both of the two arms, the system dynamics can be represented subjected to only the machine coordinate (joint space) of the prime arm (left one). On the other hand, the contouring controller is systematically designed based on the method of equivalent errors. For comparison, the simulation a

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10

Lin, Tsung-Wei, and 林宗緯. "Modular 7 DoF Dual Arm Robot with 3D Visual Perception and Manipulation." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/54873126271531151667.

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碩士<br>國立臺灣大學<br>電機工程學研究所<br>102<br>Having dexterous arms makes human different from other creatures. In the field of robotics, research on anthropomorphic becomes an important issue. In this work, we proposed a modularized 7-DoF dual arm robot with 3D visual perception ability. First, we derived the analytical inverse kinematics solution for both arms. Second, visual sensing is also implemented, such that the robot can recognize objects in the environment. Third, a planning algorithm is implemented to grant the robot the ability to plan the order to grasp all objects put on the working table.

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11

Hsu, Nei-Cheng, and 許乃誠. "Design and Control of Pneumatic Shaping Compliant Gripper for Six-DOF Robot Arm." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/386v4j.

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碩士<br>龍華科技大學<br>機械工程系碩士班<br>107<br>A design and control method of pneumatic shaping compliant gripper for the Six-DOF robot arm is proposed in this thesis, and a new type of gripper is designed with the advantages of universality, flexibility and soft contact. For the on-demand applications such as food packaging, material handling, and mixed production, the designed pneumatic shaping compliant gripper for the 6-DOF robot arm imports EtherCAT motion control technology to carry out system testing and control. In the robot arm mechanism design, as to improve the defects of the traditional roboti

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12

CHEN, Zu-De, and 陳祖德. "Development And Gesture Motion Control of Humanoid Robot's 5-DOF Dual Arm." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8w9655.

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碩士<br>大同大學<br>機械工程學系(所)<br>106<br>The study designed a pair of robotic arms with five degrees of freedom, control the servo motor with Arduino uno as the core, generate each degree of freedom, and when the service robot receives the guest and 3C product recommendation in the 3C station store, several gesture gestures are required. after combining the motion control of the robot arm with the motion control of the robot body, can perform tasks such as greeting customers at the 3C product station store. In addition, this study uses a Kinect depth camera, track the objects planning to capture thro

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13

Yu, Pei-Zhen, and 余佩蓁. "Development of Servo-pneumatic 3-DOF Robot Arm for Automatic Pick-and-place Control." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/8z9747.

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碩士<br>國立雲林科技大學<br>機械工程系<br>106<br>Automation equipment is one of the essential elements to achieve industrial 4.0. It can not only improve the quality of production and increase production, but also replace physical labor of workers to make cost down. The pneumatic system is widely used in recent years because of its easy maintenance, availability of the source and no pollution. The purpose of this paper is to develop an integrated technology of hardware and software to build a servo pneumatic three axis platform. This study designs a platform mechanism that is different from the previous ones

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14

Jie-JhongLiang and 梁介仲. "6-DoF Dual-Arm Imitation Learning with Position Control based Self-Collision Avoidance for Service Robot." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/79vp4x.

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碩士<br>國立成功大學<br>電機工程學系<br>106<br>This thesis proposes an imitation learning system which consists of an imitation system, a self-collision avoidance system, and a motion learning system. The imitation system captures the human skeleton with an RBG-D camera, Kinect 2.0, to map the human joint angles to the motor angles of the robot, at here an integrating method of the forward kinematics and the space vector method is developed. To improve safety, the self-collision avoidance system is added, so that the robot will not collide with itself while learning human motions. This system is based on th

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15

Hsu, Wei-Ting, and 徐偉庭. "Application of Pattern Recognition and Position Control for 5-DOF Robot Arm on Smartphone Automatic Test System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/33453570304895354122.

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碩士<br>國立臺灣海洋大學<br>通訊與導航工程學系<br>104<br>Intelligent robotic techniques play an important role in human’s daily life, for example, household sweeping, industrial mechanical arms or medical micro-wound surgery. The applications of intelligent robotic techniques have assisted human beings a lot. In here, we propose a robot system that can recognize numbers and words automatically. The mechanic arm can do corresponding movements to test the smartphones through requested commands. We utilize a camera to inspect the screen of the smartphone. The image processing transforms RGB image to YUV image for r

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16

Quin, Phillip Daniel. "Efficient algorithms and a two-stage framework for autonomous exploration of complex 3D environments using a climbing robot." Thesis, 2016. http://hdl.handle.net/10453/62985.

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University of Technology Sydney. Faculty of Engineering and Information Technology.<br>Enabling robots to autonomously explore complex 3D environments is crucial in facilitating the automation of many real-world tasks. There exist many algorithms for exploring unknown environments with autonomous robots. Most of these are restricted to the 2D case, or to cases where the robot can be abstracted as a holonomic point robot. Algorithms that deal with the 3D case restrict the robot’s possible positions to the 2D plane, or assume that the robot can freely move through any empty space, like an ideali

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