Relevant bibliographies by topics / Endeffector

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

Academic literature on the topic 'Endeffector'

Author: Grafiati
Published: 19 February 2023

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Journal articles on the topic "Endeffector"

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "VELOCITIES AND ACCELERATIONS AT THE 3R ROBOTS." Engevista 19, no. 1 (January 30, 2017): 202. http://dx.doi.org/10.22409/engevista.v19i1.735.

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The paper presents an original method to determine the velocities and the accelerations at the MP-3R structures. At the 3R structure (spatial) are known (imposed) the angular speeds of actuators and must be determined the velocities and the accelerations of the endeffector point M. Starting from the MP-3R direct kinematic positions system, deriving these relations system in function of the time, one time and then a second time (the second derivation) one obtains first the system velocities, and second time the accelerations of the point endeffector M. The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). All calculations were arranged and in the matrix form.
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Baek, Seonghyun, Dong-Sun Park, Jaiwan Cho, and Yong-Bum Lee. "A robot endeffector tracking system based on feedforward neural networks." Robotics and Autonomous Systems 28, no. 1 (July 1999): 43–52. http://dx.doi.org/10.1016/s0921-8890(99)00028-7.

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Nakamura, Yoshihiko, and Hideo Hanafusa. "Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control." Journal of Dynamic Systems, Measurement, and Control 108, no. 3 (September 1, 1986): 163–71. http://dx.doi.org/10.1115/1.3143764.

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The singularity problem is an inherent problem in controlling robot manipulators with articulated configuration. In this paper, we propose to determine the joint motion for the requested motion of the endeffector by evaluating the feasibility of the joint motion. The determined joint motion is called an inverse kinematic solution with singularity robustness, because it denotes feasible solution even at or in the neighborhood of singular points. The singularity robust inverse (SR-inverse) is introduced as an alternative to the pseudoinverse of the Jacobian matrix. The SR-inverse of the Jacobian matrix provides us with an approximating motion close to the desired Cartesian trajectory of the endeffector, even when the inverse kinematic solution by the inverse or the pseudoinverse of the Jacobian matrix is not feasible at or in the neighborhood of singular points. The properties of the SR-inverse are clarified by comparing it with the inverse and the pseudoinverse. The computational complexity of the SR-inverse is considered to discuss its implementability. Several simulation results are also shown to illustrate the singularity problem and the effectiveness of the inverse kinematic solution with singularity robustness.
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Hroncová, Darina, and Ingrid Delyová. "COMPUTER SIMULATION USING MSC ADAMS." Acta Mechatronica 5, no. 3 (September 30, 2020): 41–46. http://dx.doi.org/10.22306/am.v5i3.67.

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The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.
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Sturm, Christian, and Dieter Schramm. "On the Control of Tendon Based Parallel Manipulators." Solid State Phenomena 166-167 (September 2010): 395–402. http://dx.doi.org/10.4028/www.scientific.net/ssp.166-167.395.

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Tendon based parallel manipulators are capable of realizing movement of high speed and acceleration. In order to perform tasks that require direct contact with the environment control schemes are needed that adapt both operational space variables and tendon forces. By use of an inverse dynamics approach a motion control scheme in operational space is presented. In redundant systems the forces that act along the tendons can be divided into internal forces, the sum of which is zero, and external forces, that produce the driving force for the endeffector. Based on that property an additional and decoupled force control scheme is presented.
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Mi, Jian Wei, Hong Bao, and Jing Li Du. "Synchronization Control of Planar 2-Dof Robot with Redundant Actuation." Advanced Materials Research 468-471 (February 2012): 1414–20. http://dx.doi.org/10.4028/www.scientific.net/amr.468-471.1414.

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Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, relatively small workspace and the strong coupling relationship among arms，a synchronization control strategy is presented in this paper. Since in the feedforward ,the inertial and the coriolis matrix are designed constant according to relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms may be reduced, as well as synchronization performance among axes improves. The stability of the controllers was proved by Lyapunov. Finally, experimental results show the feasibility.
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Kim, Chang Hyun, Tae Yong Choi, Ju Jang Lee, Jeong Suh, Kyoung Taik Park, and Hee Shin Kang. "Reconfigurable 3D Laser-Stripe Sensor for Welding Processes." Materials Science Forum 580-582 (June 2008): 691–94. http://dx.doi.org/10.4028/www.scientific.net/msf.580-582.691.

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This paper describes the development of a reconfigurable 3D profile measurement system for welding robot. The system consists of a PC based vision camera and a stripe-type laser diode. The total system is assembled into a compact module which can be attached to the endeffector of welding robots. Especially, the developed system is designed to operate at different working distances. For this purpose, the reconfigurable mechanism which adjusts the focal length and the relative position between the camera and the laser diode is devised. These two configurations are automatically changing, according to the current working distance. Most parts of image processing such as camera calibration, correction of distortion, and line extraction are implemented and running on the PC. After measuring the welding profile, the 3D shape of the parent metal is obtained and some useful features for robot manipulation are calculated.
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Arima, Seiichi, and Naoshi Kondo. "Cucumber Harvesting Robot and Plant Training System." Journal of Robotics and Mechatronics 11, no. 3 (June 20, 1999): 208–12. http://dx.doi.org/10.20965/jrm.1999.p0208.

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Cucumber is one of the most popular vegetables cultivated in Japan. It must be harvested daily because of rapid maturation and the deterioration of quality in cucumbers harvested too late. We developed a cucumber harvesting robot using a visual sensor, manipulator, endeffector, and traveling device. To discriminate cucumbers from leaves and stems, we used a monochrome TV camera with 550 nm and 850 nm wavelength interference filters. After thresholding images, cucumbers were recognized morphologically. A seven degree-of-freedom (DOF) polar coordinate manipulator moved to a target cucumber and a harvesting end-effector grasped the top, detected the peduncle, and cut it. The manipulator and end-effector were trialmanufactured based on the cucumber's physical properties. A 4-wheel traveling device carrying the robot then moved to the next plant. Experiments verified the robot's feasibility in harvesting cucumbers.
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Herrero, Saioa, Charles Pinto, Mikel Diez, and Javier Corral. "Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator." Robotica 37, no. 08 (January 31, 2019): 1401–14. http://dx.doi.org/10.1017/s026357471900002x.

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SummaryParallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces testing purposes—the 2PRU–1PRS parallel manipulator—and focus on the analysis of its stiffness all over the useful workspace. Analysis methods based on matrix structural method need to be validated for every parallel manipulator, and we present these steps along with a comparison between experimental and analytical methods.
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Jia, Qingxuan, Yong Liu, Gang Chen, and Hanxu Sun. "State-Dependent Riccati Equation Control for Motion Planning of Space Manipulator Carrying a Heavy Payload." Open Mechanical Engineering Journal 9, no. 1 (October 7, 2015): 851–58. http://dx.doi.org/10.2174/1874155x0150901851.

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In this paper, a nonlinear optimal control approach is proposed to plan the motion of a redundant free-floating space manipulator (FFSM) when carrying a heavy payload. Optimal joint trajectories are determined to track a desired end-effector path, for which limitations of the manipulator’s load-carrying capacity and tracking accuracy are simultaneously considered. In this method, FFSM is described as a nonlinear system using the dynamics equation. The integrated performance indicator is proposed as the cost function, which includes tracking error punishment of the endeffector, joint-torques optimization, total energy improvement and instability avoidance of the base. Then the statedependent Riccati equation (SDRE) is established and solved by Taylor series approximation method. The motion planning algorithm is presented, subject to multi-constraints. Simulations are performed for a 7-DOF space manipulator and the results are discussed to illustrate the effectiveness of the proposed approach.
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Dissertations / Theses on the topic "Endeffector"

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(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.

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In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.

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He, Chong Yu, and 何崇瑜. "Drive and Control Technology for Multi-axis Endeffectors of Robotic Arm." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/8hvg2y.

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碩士
國立中正大學
機械工程學系暨研究所
103
In the past, Systematic integration of industrial robot and robotic finger have two common problemes. First, The robot finger is constituted by many motors which require many set of drives. If the multiple drives cannot be integrated into one set, the wiring, signaling, control, are quite complicated. Second, The communication interface of industrial robot and robotic finger are different. Therefore, It's difficult to promote the system integration. This thesis improves the above issues which builds up integration platform for industrial robot and robotic. And it designed development board which applied to multi-axis motor control on robotic finger models. The purpose that the robotic finger integrates with industrial robot. The system controller built on PC-Based system, and with RTX Sub-system. Using EtherCAT communication method achieve multi-axis motor control. On the other hand, Development board is designed using four kinds of different chips to control motor on robotic finger model. The first, using field programmable gate arrays (FPGA) chip to design drive circuits. The FPGA with multi-pin feature can help to develop motion control easily. The second, using ARM embedded chip realize EtherCAT communication module. Through the development board combined with industrial robot. The third, Driver IC achieve the motor to drive . The fourth, External senser voltage signal using AD converter chip integrated into the system. Finally, the master can monitored servo-loop response, to achieve tuning. Finally, This thesis combined HIWIN six-axis articulated robot and PMC 12 freedom of the sucker fingers. To establish kinematic equation. And consideration of the finger located at the end sucker to be the best of the suction insert. The design makes moves ideal posture of robot and robotic finger. Finally, simulations are performed on C# to verify exactness and feasibility of the proposed inverse kinematic solutions.
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Fiedler, Katja. "Generation principles for arm movements in humans." Doctoral thesis, 2011. http://hdl.handle.net/11858/00-1735-0000-000D-F0B8-F.

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Book chapters on the topic "Endeffector"

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Boldin, M. "Endeffector Force Approximation." In Contributions to Autonomous Mobile Systems, 87–96. Wiesbaden: Vieweg+Teubner Verlag, 1992. http://dx.doi.org/10.1007/978-3-663-06842-6_5.

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Hennes, M., K. Bollue, H. Arenbeck, D. Abel, and C. Disselhorst-Klug. "Detection of Rehabilitation-Relevant Events during Endeffector Based Robot Assisted Rehabilitation of Upper Extremities." In Converging Clinical and Engineering Research on Neurorehabilitation, 765–68. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-34546-3_124.

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Humberstone, Chad K., and Kevin B. Smith. "Object Transport Using Multiple Mobile Robots with Pin Joint Endeffectors." In Distributed Autonomous Robotic Systems 4, 417–26. Tokyo: Springer Japan, 2000. http://dx.doi.org/10.1007/978-4-431-67919-6_39.

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Conference papers on the topic "Endeffector"

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Oh, Sehoon, and Yoichi Hori. "Novel endeffector stiffness control by biarticular muscle in robot manipulator." In IECON 2009 - 35th Annual Conference of IEEE Industrial Electronics (IECON). IEEE, 2009. http://dx.doi.org/10.1109/iecon.2009.5415286.

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Telagi, Mruthyunjaya S., and Athamaram H. Soni. "Control Systems in Manufacturing." In ASME 1994 Design Technical Conferences collocated with the ASME 1994 International Computers in Engineering Conference and Exhibition and the ASME 1994 8th Annual Database Symposium. American Society of Mechanical Engineers, 1994. http://dx.doi.org/10.1115/detc1994-0365.

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Abstract This paper reviews different control methodologies applied in manufacturing environment. Since comparatively newer control methodologies like — Neural networks, Fuzzy logic, and Cerebellar model articulation controller have gained more research interests in recent years, they have been dealt in more detail. With this, we have presented application of neural network for endeffector positioning of three degree planar robot and results have been evaluated. Finally the future research trends in these areas have been discussed.
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Xie, Kaiyi, Qixin Cao, Nan Luan, and Xiaoxiao Zhu. "External Forces/Torques Perception of Robot Endeffector Tip Based on a 6-axis Force Sensor." In 2021 International Conference on Intelligent Computing, Automation and Systems (ICICAS). IEEE, 2021. http://dx.doi.org/10.1109/icicas53977.2021.00097.

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Eichhorn, V., S. Fatikow, O. Sardan Sukas, T. M. Hansen, P. Bøggild, and L. G. Occhipinti. "Novel four-point-probe design and nanorobotic dual endeffector strategy for electrical characterization of as-grown SWCNT bundles." In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). IEEE, 2010. http://dx.doi.org/10.1109/robot.2010.5509952.

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GENOVA, JOSHUA, LAKSHAY GUPTA, and VEDHUS HOSKERE. "DESIGN OF A ROBOTIC TAPING MECHANISM FOR UAV-BASED WIND TURBINE BLADE MAINTENANCE." In Structural Health Monitoring 2021. Destech Publications, Inc., 2022. http://dx.doi.org/10.12783/shm2021/36337.

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Wind energy generated through wind turbines is a critical contributor towards realizing a renewable energy economy. Maximizing the efficiency of power generation from wind turbines is required to meet target generation capacities. The leading edge of wind turbine’s blade is designed such that its smooth, aerodynamic surface will produce maximum power given the size specification of the turbine. As these blades age, they typically suffer from leading edge erosion, or LEE, which is the gradual erosion of the blade’s leading edge. Not only does LEE shorten a blade’s lifespan, but it also negatively affects performance, reducing annual energy production. Application of wind blade protection tape is a frequently used solution for LEE on the damaged area. Tape application requires a crew of technicians with a lift and is considered high-risk where one mistake can lead to fatal injury. The focus of this paper is to present a method of automating the wind blade protection tape application by using a UAV with an endeffector. Specifically, the end-effector is an automatic taping mechanism that will apply wind blade protection tape to the damaged area. The paper discusses the overall robotic arm design, topology optimization, and hardware components used to create the operation for the automatic taping mechanism. The end-effector is designed to dispense tape, extend to create contact to the surface, and cut to finish the application. The rest of the arm is used for the motion of tape application vertically starting from the bottom of the damaged region. The process is completed once the damaged area has been covered with protection tape and tape has been cut. The developed end-effector demonstrates the effectiveness of the taping operation, ultimately conserving the wind blade’s lifespan and decreasing the risk of human injury.
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Söffker, Dirk. "Elastic Robot Arms With Variable Length: Part II — Robust Control of Elastic Vibrations." In ASME 1995 Design Engineering Technical Conferences collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium. American Society of Mechanical Engineers, 1995. http://dx.doi.org/10.1115/detc1995-0263.

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Abstract In the last years modeling, simulation, and control of flexibel structures have made an essential progress, especially stimulated by the requirements of space operations. For this working field, flexible lightweight robots can enhance the work space of space robots very well, if the length of the robot arm is variable. Contributions in the corresponding literature mostly consider models of special configurations and perform simple approximations or even assume linear models to describe the elastic motions of the robot. However, especially in the case of lightweight robots undergoing large reference motion, its nonlinear dynamic behaviour should be modeled as exact as possible. The mechanical system should be controlled to improve its dynamical behaviour. Unfortunately, it is not possible to measure the position of the endeffector. The only measurements that can be done are that of the strains of the beam. The control input should be the velocity (translational and rotational) transmitted to the base of the beam. This includes a correction of the actual path planning values as a kinematical control. Here the specified task is solved in two parts: Firstly, the variable length, the geometric nonlinear beam behaviour and the large reference motion of the driven joint are taken into consideration with a systematic modeling approach in (Söffker, 1995b; Söffker, 1995c). Nonlinear control approaches can often be used only for special classes of problems assumptions have to be made, which cannot be generally fulfilled in practice. Here a new controller is developed which is realizable for on-line applications with the mentioned restrictions. Therefore, in a second part the mechanical plant will be controlled by a new observer-based dynamic compensation scheme. Based on a linear time-invariant model, nonlinear effects and unmodeled dynamics are estimated in a first step by an Proportinal-Integral (PI) observer scheme, whereby the nonlinearities and the effects of the non-considered time-varying parameters etc. are assumed as external disturbances. The used PI-observer (Söffker, 1995a) estimates the states of the system and the external disturbances under some weak assumptions. Using this informations about the external disturbances to the nominal time-invariant system, the task of an extended regulator scheme is to compensate these effects in a second step. Because of the structure of the given mechanical system, usual static disturbance compensation schemes are not useful. Therefore a new dynamic approach is developed, which uses the estimations of the extended observer. The developed method does not depend on the structure of the physical problem and can be also used more generally. This is mainly due to the robustness of the observer-based dynamic compensation scheme. Two examples of a very flexible spatial telescopic robot arm demonstrate the effects of disturbances compensation and control of the elastic vibrations induced by the initial conditions and the reference motion.
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Shen, Yajing. "Effect of Endeffector's Contact Area on Single Cell Manipulation at Small Scale." In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2014. http://dx.doi.org/10.1109/robio.2014.7090416.

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Ambrose, Robert O., and Delbert Tesar. "Modular Robot Connection Design." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0445.

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Abstract The ability to reconfigure automation equipment will reduce the manufacturing costs of obsolesence, training and maintenance while allowing for a faster response to changes in the product line. A modular philosophy will give the user these advantages, but only if based on a common connection standard. A mechanical connection was selected for the UT Modular Robotics Testbed and used in the designs of four robot joint modules and nine robot link modules. The standard was also used for assecories, such as the testand, loading fixtures and endeffectors. Three years of experiments with this connection standard are reviewed, and used as the basis for new connection designs. Experiments using multiple modules assembled as dextrous robots, as well as experiments focusing on the connection itself, will be described. Goals for future connection standards include designs with upward compatibility, combinations of both mechanical and electrical fittings, and robot triendly constraints that allow for automated or remote assembly of modular robots.
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Seo, H., J. Jeong, G. Choe, and J. Lim. "Algorithm of Linear Induction Motor Control Considering Endeffect of Magnetic Levitation Train Propulsion System." In 2018 IEEE International Magnetic Conference (INTERMAG). IEEE, 2018. http://dx.doi.org/10.1109/intmag.2018.8508463.

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