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Dissertations / Theses on the topic 'Flexible robot manipulator'
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Tsakalotos, Orestis I. "Active control of flexible structures and manipulators." Thesis, University of Newcastle Upon Tyne, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316255.
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Holden, Ray Lanier. "A braced end effector for a flexible robot manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/16736.
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Mackay, Andrew Stuart. "A flexible robot control system for subsea manipulator applications." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260371.
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Davies, J. B. C. "A flexible three dimensional motion generator." Thesis, Heriot-Watt University, 1996. http://hdl.handle.net/10399/1173.
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Fraser, Anthony. "Perturbation techniques in the dynamics and control of flexible manipulators." Thesis, University of Oxford, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329872.
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Niglis, Anton, and Per Öberg. "Modelling High-Fidelity Robot Dynamics." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119640.
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The field of robotics is in continuous development. Driving forces for the development are higher demands on robot accuracy and being more cost effective in the development process. To reduce costs, product development is moving towards virtual prototyping to enable early analysis and testing. This process demands realistic models and modelling is therefore of utmost importance. In the process of modelling high fidelity robot dynamics many different physical aspects have to be taken into account. Phenomena studied in this thesis stretch from where to introduce flexibilities, mechanical and dynamical coupling effects, and how to describe friction. By using a bottom up approach the effects are analysed individually to evaluate their contribution both to accuracy and computationalcomplexity. A strategy for how to model a flexible parallel linkage manipulator by introducing some crucial simplifications is presented. The elastic parameters are identified using a frequency domain identification algorithm developed in [Wernholt, 2007] and shows that the presented method works well up to a certain level of fidelity. Friction is modelled using empirically derived static and dynamic models. Evaluation of accuracy is conducted through identification of friction models for a real manipulator and it is seen that to capture all existing phenomena in low velocities a dynamic model is needed. It is also seen that friction characteristics vary with temperature and a Kalman filter is suggested to adaptively estimate friction parameters. Finally an implementation of a flexible manipulator model using the software MapleSim is presented. The tool severely simplifies the process of modelling manipulators and enables for export to other environment such as simulation, optimization and control.
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Dong, Yuan. "Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27126.
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In this thesis, a position control system for a single flexible-link flexible-joint (FLFJ) manipulator has been developed. It is presented in three parts: dynamic modeling and analysis, control system design, and experimental analysis of the designed control system. The assumed modes method and the Lagrange approach were combined to derive a dynamic model of the single FLFJ manipulator and then this model was linearized about zero deflection for both the flexible joint and the flexible link. The resulting linear dynamic model was used for the dynamic analysis and control system design. Equations of motion and their analytical solutions were derived for the single FLFJ manipulator at any rotation angle. The effects of the relative stiffness of the joint with respect to the link on the dynamic characteristics and open-loop responses of the single FLFJ manipulator were investigated based on the linear model. It was found that the higher order frequencies of the manipulator increased monotonically with the increments of the joint stiffness, while the lower order ones kept almost unchanged. This demonstrates that the higher order frequencies were more sensitive to the interaction between the flexible link and the flexible joint. A time-Delayed Feedback Signal (DFS) controller was applied to the single FLFJ manipulator and the effect of the time delay on the stability of the system was examined. (Abstract shortened by UMI.)
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Moberg, Stig. "Modeling and Control of Flexible Manipulators." Doctoral thesis, Linköpings universitet, Reglerteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60831.
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Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the mathematical models and control methods in order to fulfil conflicting requirements, such as increased performance of a weight-reduced robot, with lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are also obtained, such as lower environmental impact, lower power consumption, improved dexterity, and higher safety. This thesis deals with different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, this thesis shows that the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. The main contributions of this work are the design and analysis of identification methods, and of inverse dynamics control methods, for the extended flexible joint model. The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot. The inverse dynamics problem is discussed, and a solution methodology is proposed. This methodology is based on the solution of a differential algebraic equation (DAE). The inverse dynamics solution is then used for feedforward control of both a simulated manipulator and of a real robot manipulator. The last part of this work concerns feedback control. First, a model-based nonlinear feedback control (feedback linearization) is evaluated and compared to a model-based feedforward control algorithm. Finally, two benchmark problems for robust feedback control of a flexible manipulator are presented and some proposed solutions are analyzed.
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Solatges, Thomas. "Modélisation, conception et commande de robots manipulateurs flexibles. Application au lancement et à la récupération de drones à voilure fixe depuis un navire faisant route." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0012/document.
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Les robots manipulateurs sont généralement des machines rigides, conçues pour que leurflexibilité ne perturbe pas leurs mouvements. En effet, des flexibilités mécaniques importantesdans la structure d’un système introduisent des degrés de liberté supplémentaires dont le comportementest complexe et difficile à maîtriser. Cependant, la réduction de la masse d’un systèmeest bénéfique du point de vue des coûts, de la performance énergétique, de la sécurité et des performancesdynamiques. Afin de faciliter l’accès aux nombreux avantages d’une structure légèremalgré la présence de fortes flexibilités, cette thèse porte sur la modélisation, la conception et lacommande de robots manipulateurs flexibles. Elle est motivée par le projet YAKA, dont l’applicationest le lancement et la récupération de drones à voilure fixe depuis un navire faisant route.Cette application nécessite une importante dynamique sur un vaste espace de travail, bien au-delàdes spécifications des robots rigides classiques. Les outils de modélisation, de conception et decommande proposés prennent en compte la flexibilité des segments et des articulations, pour unnombre quelconque de degrés de liberté et de segments flexibles. Le modèle dynamique flexibleest obtenu par le formalisme de Lagrange, les poutres flexibles sont représentées par le modèled’Euler-Bernoulli. Le schéma de commande proposé se décompose en une inversion de modèledynamique rigide et un bloc de précommande par Input Shaping adapté aux robots manipulateursflexibles. Les outils de conception proposés permettent de baser le processus de conceptionsur des performances prédites du système complet muni de ses actionneurs et de son contrôleuravec une simulation réaliste. Les validations expérimentales effectuées sur le robot YAKA permettentde valider la pertinence de la démarche suivie. Les résultats du projet YAKA confirment lafaisabilité de la mise en oeuvre d’un robot flexible de grande envergure et à forte dynamique dansun contexte industriel, en particulier pour le lancement et la récupération d’un drone à voilurefixe depuis un navire faisant route<br>Robot manipulators are generally stiff machines, designed in a way that flexibility does not affecttheir movements. Indeed, significant flexibility introduces additional degrees of freedom witha complex behavior. However, reducing the mass of a system allows for costs, performance, andsafety improvements. In order to allow those benefits despite important flexibility, this thesis focuseson modeling, design and control of flexible robot manipulators. It is motivated by the YAKAproject, which aims at developing a robot to launch and recover fixed wing UAVs from a movingship. It implies reaching very high dynamics on a large workspace, way beyond the specificationsof common rigid robots. The proposed tools for modeling, design and control allow for taking intoaccount both joint and link flexibility, for any number of degrees of freedom and flexible links.The elastodynamic model is obtained with Lagrange principle, each flexible link being representedwith one ormany Euler-Bernouilli beams. The proposed control scheme uses a nonlinear rigiddynamic inversion and extends classical Input Shaping techniques to flexible robot manipulators.The proposed design tools allow for performance prediction of the system including its actuatorsand controllers thanks to a realistic simulation. Experiments conducted with the YAKA robot validatedthe proposed approach. The results of the YAKA project confirmed the feasibility of usinga large scale, highly dynamic flexible robot in an industrial context, in particular for UAVs launchand recovery operations from amoving ship
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Wang, Ke. "Modélisation d'un robot manipulateur en vue de la commande robuste en force utilisé en soudage FSW." Thesis, Paris, ENSAM, 2016. http://www.theses.fr/2016ENAM0003/document.
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Le travail présenté dans cette thèse concerne la modélisation et la commande robuste en force de robots manipulateurs industriels à articulations flexibles utilisés pour le procédé FSW. Afin de réduire les temps de calcul et l'occupation de la mémoire, une approche basée sur la méthode par intervalle est proposée en vue de la simplification des modèles dynamiques des robots industriels, et contribue à identifier les paramètres d'inertie qui sont négligeables. Des études de cas sur trois types de trajectoires de test et l’analyse des couples moteurs ont démontré l'efficacité et les bonnes performances de la méthode de simplification. Ensuite, la modélisation dynamique et l'identification des paramètres du procédé FSW ont été effectuées. Les paramètres des modèles linéaires et non-linéaires de forces axiales sont identifiés. Sur la base de la modélisation du procédé FSW qui considère simultanément la cinématique du système complet, le modèle de déplacement du robot rigide, les flexibilités des articulations et le modèle dynamique de la force axiale, un contrôleur robuste en force est obtenu par la méthode de réglage fréquentielle. En outre, un simulateur du procédé FSW robotique est développé et les résultats de simulation montrent les bonnes performances du contrôleur en force. L'oscillation de la force axiale dans le procédé FSW peut être simulée en utilisant un modèle de perturbation de la position verticale de référence<br>The work presented in this thesis focuses on the modeling and robust force control of flexible joints industrial robot manipulators used for FSW process. In order to reduce computation time and memory occupation, a novel interval-based approach for dynamic model simplification of industrial robots is proposed, which applies to arbitrary trajectories of whole robot workspace and contributes to obtaining negligible inertia parameters. Cases studies have been carried out on three kinds of test trajectories and torques analysis of robot dynamic equation, demonstrating the effectiveness and good performance of the simplification method. Then, the dynamic modeling and identification of robotic FSW process is performed, and the parameters of linear and nonlinear dynamic axial force process models are identified by using the plunge depth and its derivative. On the basis of the modeling of robotic FSW process which simultaneously considers the complete kinematics, the rigid robot displacement model, the joint flexibility and the dynamic axial force process model, a robust force controller can be obtained by using the frequency response approach. Besides, a simulator of robotic FSW process is developed and simulation results show good performance of the force controller. The oscillation of axial force in FSW process can be simulated when a disturbance model of initial vertical reference position is proposed and used in the simulation
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George, Lynnane E. "Active vibration control of a flexible base manipulator." Diss., Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/17115.
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Sun, Qiao. "Dynamics analysis of flexible-link cooperating manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21951.pdf.
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Kwon, Dong-Soo. "An inverse dynamic tracking control for bracing a flexible manipulator." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/15876.
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Feng, Jingbin. "Quasi-Static Deflection Compensation Control of Flexible Manipulator." PDXScholar, 1993. https://pdxscholar.library.pdx.edu/open_access_etds/4759.
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The growing need in industrial applications of high-performance robots has led to designs of lightweight robot arms. However the light-weight robot arm introduces accuracy and vibration problems. The classical robot design and control method based on the rigid body assumption is no longer satisfactory for the light-weight manipulators. The effects of flexibility of light-weight manipulators have been an active research area in recent years. A new approach to correct the quasi-static position and orientation error of the end-effector of a manipulator with flexible links is studied in this project. In this approach, strain gages are used to monitor the elastic reactions of the flexible links due to the weight of the manipulator and the payload in real time, the errors are then compensated on-line by a control algorithm. Although this approach is designed to work for general loading conditions, only the bending deflection in a plane is investigated in detail. It is found that a minimum of two strain gages per link are needed to monitor the deflection of a robot arm subjected to bending. A mathematical model relating the deflections and strains is developed using Castigliano's theorem of least work. The parameters of the governing equations are obtained using the identification method. With the identification method, the geometric details of the robot arms and the carrying load need not be known. The deflections monitored by strain gages are fed back to the kinematic model of the manipulator to find the position and orientation of the end-effector of the manipulator. A control algorithm is developed to compensate the deflections. The inverse kinematics that includes deflections as variables is solved in closed form. If the deflections at target position are known, this inverse kinematics will generate the exact joint command for the flexible manipulator. However the deflections of the robot arms at the target position are unknown ahead of time, the current deflections at each sampling time are used to predict the deflections at target position and the joint command is modified until the required accuracy is obtained. An experiment is set up to verify the mathematical model relating the strains to the deflections. The results of the experiment show good agreement with the model. The compensation control algorithm is first simulated in a computer program. The simulation also shows good convergence. An experimental manipulator with two flexible links is built to prove this approach. The experimental results show that this compensation control improves the position accuracy of the flexible manipulator significantly. The following are the brief advantages of this approach: the deflections can be monitored without measuring the payload directly and without the detailed knowledge of link geometry~ the manipulator calibrates itself with minimum human intervention; the compensation control algorithm can be easily integrated with the existing uncompensated rigid-body algorithm~ it is inexpensive and practical for implementation to manipulators installed in workplaces.
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Amin, Shamsudin Haji Mohd. "Modelling, simulation and adaptive control of rigid and flexible robot manipulators." Thesis, University of Sheffield, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333243.
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Lee, Jeh Won. "Dynamic analysis and control of light weight manipulators with flexible parallel link mechanisms." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15989.
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Moberg, Stig. "On Modeling and Control of Flexible Manipulators." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10463.
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<p>Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.</p><p>This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.</p><p>The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.</p><p>The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.</p><p>Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.</p>
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Obergfell, Klaus. "End-point position sensing and control of flexible multi-link manipulators." Diss., Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/18198.
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Alami, Rachid. "Robots autonomes : du concept au robot. Architectures, représentations et algorithmes." Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 1996. http://tel.archives-ouvertes.fr/tel-00165562.
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Le travail présenté procède de l'ambition de doter le robot d'un haut niveau de flexibilité et d'adaptation à la tâche en présence d'imprécisions et d'incertitudes liées à celle-ci et à son état interne. Ceci se traduit par le développement de concepts et d'outils visant à permettre au robot de planifier sa tâche et d'en contrôler l'exécution. Une première partie porte sur l'élaboration d'architectures permettant d'intégrer les composantes décisionnelle et fonctionnelle et de mettre en \oe uvre des processus bouclés sur la tâche et sur l'environnement à différents niveaux d'abstraction. Elle présente notamment une architecture de contrôle générique permettant à la fois l'élaboration d'un plan d'actions (processus généralement coûteux en temps calcul et non borné dans le temps), et la disponibilité permanente dans un environnement évolutif (réactivité). Un deuxième aspect concerne le développement de représentations et d'algorithmiques pour la planification et l'interprétation de plans: planification logique et temporelle (au niveau de la mission) mais aussi planification géométrique (plus proche de la tâche). Les contributions portent sur la planification de mission avec prise en compte de contraintes temporelles et du non-déterminisme, la coopération multi-robot, la planification des tâches de manipulation, ainsi que la planification de stratégies de déplacement pour un robot mobile en présence d'incertitudes. La dernière partie présente la réalisation effective de systèmes robotiques complets démontrant les capacités développées et servant de support de validation et d'aiguillons exigeants à l'extension de ces mêmes capacités.
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Cannon, David Wayne. "Command generation and inertial damping control of flexible macro-micro manipulators." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/18212.
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Korkmaz, Ozan. "Inverse Dynamics Control Of Flexible Joint Parallel Manipulators." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/3/12608084/index.pdf.
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The purpose of this thesis is to develop a position control method for parallel manipulators so that the end effector can follow a desired trajectory specified in the task space where joint flexibility that occurs at the actuated joints is also taken into consideration.
At the beginning of the study, a flexible joint is modeled, and the equations of motion of the parallel manipulators are derived for both actuator variables and joint variables by using the Lagrange formulation under three assumptions regarding dynamic coupling between the links and the actuators. These equations of motion are transformed to an input/output relation between the actuator torques and the actuated joint variables to achieve the trajectory tracking control. Moreover, the singular configurations of the parallel manipulators are explained.
As a case study, a three degree of freedom, two legged planar parallel manipulator is simulated considering joint flexibility. The structural damping of the active joints, viscous friction at the passive joints and the rotor damping are also considered throughout the study. Matlab®<br>and Simulink®<br>softwares are used for the simulations. The results of the simulations reveal that steady state errors are negligibly small and good tracking performances can be achieved.
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Tzeranis, Dimitrios Spyridon. "Manipulation of flexible structural modules by space robots during LSS construction." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/33910.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.<br>Includes bibliographical references (leaves 86-90).<br>Future space structures are expected to have very large size. Such Large Space Structures (LSS) will be constructed in-orbit, probably by assembling large structural modules. This is a dangerous and difficult task for humans. On the other hand, this is a challenging and promising application for space robotics. This work provides a planning and control architecture for the manipulation of a large flexible structural module in the proximity of the LSS, by a team of space manipulators that are mounted on the LSS. In this task, the payload (module) and the base structure (LSS) of the robots are assumed to be very compliant. Interface forces between robots and flexible structures induce undesirable vibration. The approach developed here is to plan and control the forces that robots apply to the flexible structures so that they maneuver the module precisely while exciting low levels of residual vibration in the module and the LSS. Robot use different control implementations to control the forces they apply to different kinds of flexible structures. Robots plan and control cooperatively the forces they apply to the module.<br>(cont.) Each robot exploits its redundancy to minimize the base reaction forces it applies to the LSS and to avoid undesirable configurations. Simulation results demonstrate the effectiveness of the developed architecture in positioning the module precisely and exciting low levels of residual vibration in the module and the LSS.<br>by Dimitrios Spyridon Tzeranis.<br>S.M.
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Khorrami, Farshad. "Asymptotic perturbation and Lyapunov stability based approaches for control of flexible and rigid robot manipulators /." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487592050230916.
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Shao, Zilong. "Identification et commande des robots manipulateurs à bas prix." Thesis, Ecole centrale de Lille, 2016. http://www.theses.fr/2016ECLI0001/document.
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Contrairement aux robots manipulateurs industriels qui sont de taille énorme et de prix élevé, beaucoup de robots manipulateurs à bas prix sont déjà entrés dans le marché, avec une petite taille, un poids léger, ce type de robots est plus accessible pour les particuliers. Cependant, limité par le coût de revient, des accessoires (matériaux, actuateurs, contrôleurs, etc) adoptés sont aussi limités, cela conduit souvent à la performance moins robuste au niveau de contrôle. Cette thèses se concentre sur la conception de contrôleur pour améliorer la performance des robots manipulateurs à bas prix. D'abord, pour des robots manipulateurs rigides, la modélisation dynamique en lien avec le système d'actualisation est établie, qui forme une équation différentielle avec paramètres constants et perturbation. Une méthode d'identification des paramètres en utilisant des observateurs et une commande adaptative sont proposées, et des résultats de simulation et d'expérimentation sont donnés. Ensuite, pour le cas d'articulation flexibles, pour simplifier, le modèle 1DOF est pris en compte. Premièrement, avec la mesure de la vitesse de lien, une méthode d'identification et une loi deux-étages adaptative sont proposées à condition que la position statique de lien puisse également être mesurée, des résultats de simulation sont donnés. Deuxièmement, en utilisant des mesures d'accélération de lien, une méthode d'identification et la même loi deux-étages adaptative sont proposées, cette idée est généralisée à l'identification et au contrôle de systèmes linéaires avec mesures de dérivées d'ordre élevé, des résultat de simulation sont présentés. Pour la mise en œuvre, des capteurs inertiels (gyroscopes et accéléromètres) sont utilisés et des résultats expérimentaux sont présentés<br>Unlike industrial robot manipulators which are huge in size and of high price, many low-cost robot manipulators have already entered the market, with small size and light weight, this type of robots are more accessible to the public. However, limited by the cost, the components adopted (materials, actuators, controllers, etc.) are also limited, this often leads to less robust control performance. This thesis focuses on the controller design to improve the performance for such kind low-cost robot manipulators. To start with, for rigid case, dynamic modeling considering the actuator system is established, which forms a differential equation with constant parameters and disturbance, a method to identify the model parameters using observers and then an adaptive controller are proposed, simulation and experimental results are given. Then, in case of flexible joints, for simplicity, a single-link case model is considered. Firstly, link velocity measurement is assumed to provide link information, and an identification method and a two-stage adaptive control low are proposed provided that the static link position can also be measured, simulation result is given. Secondly, by using link acceleration measurement, an identification method and the same two-stage adaptive control low areproposed, this idea is generalized to identification and control of linear system using high-order derivative measurements, simulation result is presented. For implementation, inertial sensors (gyro and accelerometer) are used and experimental result is presented
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Haouas, Wissem. "Étude et développement de robots parallèles à plateformes configurables pour la micromanipulation dextre." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCD048/document.
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L’objectif de cette thèse est de développer de nouveaux robots qui combinent dextérité, compacité et précision afin de réaliser des tâches de micromanipulation complexes dans des environnements confinés. Ainsi, deux architectures robotiques parallèles ont été développées. La première est un poignet à 4 degrés de liberté (DDL) en rotation et la seconde est un robot redondant à 7 DDL. Les deux structures intègrent la fonction de préhension grâce à une plateforme configurable et un actionnement déporté. L’étude géométrique et cinématique des deux robots ainsi que des résultats expérimentaux validant les deux architectures sont présentés. Pour miniaturiser le robot à 7 DDL, les liaisons mécaniques (rotules) ont été remplacées par des liaisons en élastomère (PDMS). Cette solution permet, entre autres, d’éliminer les jeux mécaniques au niveau des articulations tout en gardant une grande plage de déplacement. Cependant, comme le comportement de telles articulations ne correspond pas parfaitement à des liaisons rotules, un modèle de robot prenant en compte le comportement élastique de ces articulations a été développé. Afin de réaliser la structure à l’échelle désirée (jambes et liaisons à 400 µm de côté), un nouveau processus de micro-fabrication en salle blanche a été développé. Contrairement aux méthodes existantes, le nouveau processus permet de réduire le nombre d’étapes de gravure et d’intégrer différents types d’élastomères à des microstructures robotiques en silicium. Enfin, le micro-robot a été réalisé et les capacités de déplacement dans les 6 DDL en plus de la préhension ont été validées. Les applications visées des robots développées dans cette thèse sont le micro/nano-assemblage, la manipulation de cellules biologiques et la chirurgie mini-invasive, notamment en neurochirurgie<br>The objective of this thesis is the development of new robots that combine dexterity, compactness and precision to perform complex micromanipulation tasks in confined environments. Thus, two parallel robotic structures have been developed. The first is a wrist that can insure 4 degrees of freedom (DOF) in rotation and the second is a redundant robot with 7 DOF. Both structures integrate the grasping function thanks to a configurable platform and a deported actuation. The kinematic study of the two robots and the experimental results validating the two architectures are presented. To miniaturize the 7 DOF robot, the mechanical joints (spherical) have been replaced by elastomeric articulations (PDMS). This solution allows, among others, to eliminate the mechanical backlash in the joints while keeping a large range of movements. However, as the behavior of such joints does not correspond perfectly to spherical joints, a model for the robot taking into account the elastic behavior of these joints has been developed. In order to made the structure on the desired scale (the cross sectional side of its legs and connections are 400 µm), a new microfabrication process in the clean room has been developed. Unlike the existing methods, the new process reduces the number of etching steps and allow the integration of different types of elastomers into silicon robotic microstructures. Finally, the micro-robot was realized and the displacement capacities in the 6 DOF with the grasping were validated. The targeted applications by the developed robots in this thesis are micro / nano-assembly, manipulation of biological cells and minimally invasive surgery, particularly in neurosurgery
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Makarov, Maria. "Contribution à la modélisation et la commande robuste de robots manipulateurs à articulations flexibles. Applications à la robotique interactive." Phd thesis, Supélec, 2013. http://tel.archives-ouvertes.fr/tel-00844738.
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La problématique traitée dans cette thèse concerne la commande de robots manipulateurs à articulations flexibles. Les méthodes développées visent à satisfaire les spécifications de performance et de robustesse en suivi de trajectoire, ainsi qu'à assurer un niveau de sécurité compatible avec un scénario de fonctionnement interactif dans lequel l'homme et le robot partagent un même espace de travail. Seules les mesures moteur sont utilisées dans un contexte d'instrumentation réduite. Le premier objectif de performance de la commande de mouvement est atteint grâce à l'identification expérimentale d'un modèle flexible représentatif du système, et l'usage de ce modèle pour la synthèse de lois de commande avancées intégrées au sein d'une structure cascade. Deux approches complémentaires fondées d'une part sur la commande prédictive de type GPC (Generalized Predictive Control), et d'autre part sur la commande Hinfini, sont considérées pour la synthèse de lois de commande à deux degrés de liberté, prédictives et robustes. Les performances de ces deux approches sont analysées et évaluées expérimentalement. Le deuxième objectif de sécurité est abordé à travers un algorithme de détection de collisions du robot avec son environnement, sans capteur d'effort et en présence d'incertitudes de modélisation. Afin de séparer efficacement les effets dynamiques des collisions de ceux des erreurs de modélisation, une stratégie adaptative de filtrage et de décision tenant compte de l'état du système est proposée. La validation expérimentale montre une très bonne sensibilité de détection, compatible avec les normes et les recommandations de sécurité relatives à la robotique collaborative.
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Rhim, Sungsoo. "Limitations and improvements of time-delay command shaping filters for flexible machine control." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/18876.
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Kilicaslan, Sinan. "Unconstrained Motion And Constrained Force And Motion Control Of Robots With Flexible Links." Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf.
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New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, modal variables and contact force components. The performances of the proposed methods are illustrated on a planar two-link robot and on a spatial three-link robot. Unmodeled dynamics and measurement noises are also taken into consideration. Performance of the proposed motion control method is compared with the computed torque method.
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Oulmas, Ali. "Suivi de chemin 3D de nageurs magnétiques à faible nombre de Reynolds." Thesis, Sorbonne université, 2018. http://www.theses.fr/2018SORUS070/document.
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Les microrobots magnétiques, qui nagent en utilisant des modes de propulsion bio-inspirées, apparaissent très prometteurs pour la manipulation et la caractérisation d'objets à l'échelle microscopique dans des environnements confinés et très restreints, contrairement aux méthodes de micromanipulation classiques. La littérature propose une variété de microrobots avec des formes géométriques et des propriétés magnétiques différentes. Les commandes en mouvement proposées restent cependant simples, peu précises et insuffisamment robustes pour la réalisation de tâches réelles. De plus, il subsiste une incertitude sur le fait que tous ces micronageurs artificiels peuvent accomplir les mêmes tâches avec une performance égale. L'objectif de cette thèse consiste alors à proposer : des commandes de mouvement génériques par asservissement visuel dans l'espace pour tous les types de micronageurs avec des contraintes non holonomes afin d'améliorer les performances de ces micronageurs, un ensemble de critères de comparaison entre des robots avec une topologie ou un mode de propulsion différents pour le choix du micronageur le plus performant pour réaliser une tâche particulière. Des lois de commande de suivi de chemin dans l'espace sont synthétisées et validées expérimentalement sur des nageurs hélicoïdal et flexible sous différentes conditions. Ces robots évoluent dans un fluide à faible nombre de Reynolds, imitant respectivement le mécanisme de locomotion des bactéries et des spermatozoïdes et sont actionnés par un champ magnétique uniforme. Ces deux classes de nageurs possèdent une géométrie et un mode d'actionnement différents. Leurs performances sont ainsi comparées<br>Magnetic microrobots, which swim using bio-inspired propulsion modes, appear very promising for manipulation and characterization of objects at microscopic scale inside confined and very restricted environments, unlike conventional micromanipulation methods. The literature proposes a variety of microrobots with different geometric shapes and magnetic properties. However, the motion controls proposed remain simple, imprecise and insufficiently robust for performing real tasks. In addition, there is still uncertainty that all these artificial microswimmers can accomplish the same tasks with equal performance. The objective of this thesis is thus to propose : generic motion controls by visual servoing in space for all kinds of microswimmers with nonholonomic constraints in order to improve the microswimmer performances, a set of comparison criteria between robots with a different topology or propulsion mode for choosing the most efficient microswimmer in order to perform a specific task. Path following control laws in space are synthesized and experimentally validated on helical and flexible swimmers under different conditions. These robots operate in low Reynolds number fluid, imitating respectively bacteria and spermatozoa and are actuated with uniform magnetic field. These two classes of swimmers have different actuation mode and geometric shape. Their performances are thus compared according to the task to be performed, the environment in which the robots evolve and the manufacturing constraints
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Yang, Hui-Wen, and 楊惠雯. "Adaptive Sliding Fuzzy Control of Robot Manipulator with Flexible Joints." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/61469028304023289615.
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碩士<br>國立中興大學<br>機械工程學系所<br>103<br>This thesis presents an adaptive sliding fuzzy control scheme is used to arms robot with flexible joints. Design the sliding surface for position control. To overcome the problem of uncertain parameters and chattering is caused by sliding control, design the controller which combine sliding control and adaptive fuzzy control, and then the adaptive controller is proposed. Asymptotic stability of the system is ensured via Lyapunov-like lemma. From the computer simulation results, simulation results show that the position of the arm system can be controlled effectively by the proposed control method.
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CHEN, JIN-WEN, and 陳勁文. "A design of active vibration isolator for the flexible robot manipulator." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/26338580486322057518.
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Larsen, Jenny Cutler. "A case study in vision-based neural network control of a planar, large deflection, flexible robot manipulator." 2004. http://catalog.hathitrust.org/api/volumes/oclc/56138931.html.
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Thesis (M.S.)--University of Wisconsin--Madison, 2004.<br>Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 82-85).
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Theodore, Rex J. "Dynamic Modeling And Control Analysis Of Multilink Flexible Manipulators." Thesis, 1995. http://etd.iisc.ernet.in/handle/2005/1632.
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楊, 剣鳴, and Jianming Yang. "Motion Control for Robot Manipulators with Flexible Joints." Thesis, 1996. http://hdl.handle.net/2237/15853.
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Rabindran, Nagaratnam. "Control of multiple link flexible joint robot manipulators." Thesis, 1991. http://spectrum.library.concordia.ca/2862/1/MM73689.pdf.
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Nguyen, Luong An. "Control methods for rigid and flexible kinematically redundant robot manipulators." Thesis, 1991. http://hdl.handle.net/1911/16467.
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In the coming era of the Space Station Freedom, many robotic manipulators will be working simultaneously on various parts of the space station structure. Since each link of a manipulator is a moving body relative to other bodies, they form a tree structure of interconnected bodies. Undoutedly, many of these manipulators will possess certain degree of flexibility, at links as well as at joints. To describe accurately the dynamics of such a system in a generic way, is certainly not a trivial task. However, if we approximate each flexible link as a long slender beam and assume that flexible joints behave like torsional springs, a scalar set of equations of motion can be derived explicitly for use in real time simulation or control applications.
Kinematic redundancy of manipulators has been used in control algorithms to avoid singularities, evade obstacles, minimize joint torques, manipulator kinetic energy, end effector contact forces, etc ... All of these approaches have been associated with rigid manipulators where there are no unpredictable flexible motions. When dealing with flexible manipulators, the flexibility of the system will cause undesired inaccuracy in end effector motion. However, if these manipulators are kinematically redundant, we show in this thesis that their kinematic redundancy can be used to compensate for the end effector motion inaccuracy and in many cases help damp out the vibrations. Based on our newly developed dynamic model of a system of multiple space-based flexible manipulators, control algorithms are designed to regulate the flexibility while maintaining precise tracking of the end effector trajectory. These control algorithms can either utilize a manipulator kinematic redundancy to control its flexibility or borrow other arms' motion to accomplish the same task provided that the arms are interconnected.
Kinematic redundancy is also useful in optimizing the robustness of controllers. Given a manipulator's characteristics, parameter uncertainties, desired trajectories and controller design, it can be shown that under certain conditions, the tracking errors in end effector space are L$\sb\infty$ bounded. If the manipulator is kinematically redundant, we show how its redundancy can be used to minimize these tracking error bounds and in some cases, stabilize an unstable system.
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"Cooperative control of two-manipulator systems handling flexible objects." 1997. http://library.cuhk.edu.hk/record=b6073008.
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by Dong Sun.<br>Thesis (Ph.D.)--Chinese University of Hong Kong, 1997.<br>Includes bibliographical references (p. 116-121).<br>Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web.<br>Mode of access: World Wide Web.
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Zhou, Feng. "Generalized finite element dynamic modelling and simulation for flexible robot manipulators." Thesis, 1993. http://spectrum.library.concordia.ca/3355/1/MM84623.pdf.
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Generalized system modelling using finite element technique is examined in order that the dynamic behaviour of flexible robot manipulators can be studied. Most of the dynamic models currently used for robot motion simulation are restricted to open kinematic chains of rigid body elements. However, to improve dynamic performance, it is essential to take into account the structural mechanic characteristics of robot components. This thesis presents a general finite element model for flexible robots and validates them by simulation. The kinematic equations are set up and the system kinetic and potential energies as well as their derivatives are obtained. Lagrange's formulation is employed and the generalized system dynamic equations which represent spatial performance are solved based on finite element analysis. To validate the generalized equations developed for flexible robot manipulator, two sample simulations are carried out for 2-1ink and single link manipulators without and with torque. The responses are obtained, compared and discussed.
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YANG, RONG-HUA, and 楊榮華. "Adaptive control for flexible robot manipulators by using singular perturbation method." Thesis, 1991. http://ndltd.ncl.edu.tw/handle/47668648731011612129.
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Esakki, Balasubramanian. "Modeling and Robust Control of Two Collaborative Robot Manipulators Handling a Flexibile Object." Thesis, 2011. http://spectrum.library.concordia.ca/7534/1/Esakki_PhD_S2011.pdf.
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Robots are often used in industry to handle flexible objects, such as frames, beams, thin plates, rubber tubes, leather goods and composite materials. Moving long flexible objects in a desired path and also precise positioning and orienting the objects need a collaborative action between two robot arms. Most of the earlier studies have dealt with manipulation of rigid objects and only a few have focused on the collaborative manipulators handling flexible objects. Such studies on handling of flexible objects generally used finite element method or assumed mode method for deriving the dynamic model of the flexible objects.
These approximation methods require more number of sensors to feedback the vibration measurements or require an observer. Unlike in the earlier studies, this thesis concerns with development of a dynamic model of the flexible object in partial differential equation (PDE) form and design of a robust control strategy for collaborative manipulation of the flexible objects by two rigid robot arms. Two planar rigid manipulators each with three links and revolute joints handling a flexible object is considered during the model development. Kinematic and dynamic equations of the flexible object are derived without using any approximation techniques. The resulting dynamic equation of the flexible object together with the manipulator dynamic equations form the combined dynamic model of the system. The developed complete system of dynamic equations is described by the PDE’s having rigid as well as flexible parameters coupled together. Such a coupled system must be controlled without using any form
of approximation techniques and this is accomplished using the singular perturbation approach. By utilizing this technique, slow and fast subsystems are identified in two different time scales and controller is designed for each subsystem. The key issue in developing a control algorithm is that, it should be robust against uncertain parameters of the manipulators and the flexible object and it should also achieve the exponential convergence. Hence, for the slow subsystem, sliding mode control algorithm is developed and for the fast subsystem, a simple feedback control algorithm is designed. In general, usage of singular
perturbation technique necessitates exponential stability of the slow and fast subsystems, which is evaluated by satisfying the Tikhnov’s theorem. Hence, the exponential stability analysis for both the subsystems is performed. Simulation results are presented to validate
the composite control scheme. As a further consideration in the improvement of control law for the slow subsystem,
two modified control algorithms are suggested. The first one focused on the avoidance of velocity signal measurement which is useful to eliminate the need of velocity sensors and the second controller aims at avoiding the complex regressor in the control law. The capability of those controllers is illustrated through simulation studies. The extension of earlier analysis has been carried out by developing the complete system of dynamic equations in
joint space.
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Wongratanaphisan, Theeraphong. "Application of gravity compensation to end-point control of flexible structure mounted manipulators : theory and experiment /." Diss., 2001. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3010434.
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WANG, GING-GUO, and 汪清國. "The elastodynamic analysis and the component mode synthesis of high-speed flexible robot manipulators with mechanical joints." Thesis, 1988. http://ndltd.ncl.edu.tw/handle/73934655633318387261.
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