Relevant bibliographies by topics / Linear manipulator

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  1. Journal articles
  2. Dissertations / Theses
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  4. Book chapters
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Academic literature on the topic 'Linear manipulator'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Linear manipulator"

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Kumar, Manoj. "A Non-Linear Stiffness Model for Serial and Parallel Manipulators." International Journal of Robotics Applications and Technologies 5, no. 1 (January 2017): 34–62. http://dx.doi.org/10.4018/ijrat.2017010103.

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The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a relevant numerical technique for its linearization and computing of the Cartesian stiffness matrix which allows rank-deficiency. Within the developed technique, the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints. Simulation examples are presented that deal with parallel manipulators of the Ortholide family and demonstrate the ability of the developed methodology to describe non-linear behaviour of the manipulator structure such as a sudden change of the elastic instability properties (buckling).
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Wolf, A., and M. Shoham. "Investigation of Parallel Manipulators Using Linear Complex Approximation." Journal of Mechanical Design 125, no. 3 (September 1, 2003): 564–72. http://dx.doi.org/10.1115/1.1582876.

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This investigation deals with singularity analysis of parallel manipulators and their instantaneous behavior while in or close to a singular configuration. The method presented utilizes line geometry tools and screw theory to describe a manipulator in a given position. Then, this description is used to obtain the closest linear complex, presented by its screw coordinates, to the set of governing lines of the manipulator. The linear complex axis and pitch provide additional information and a better physical understanding of the type of singularity and the motion the manipulator tends to perform in a singular point and in its neighborhood. Examples of Hunt’s, Fichter’s and 3-UPU singularities, along with a few selected examples taken from Merlet’s work [1], are presented and analyzed using this method.
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Siqueira, A. A. G., and M. H. Terra. "Nonlinear controllers for underactuated cooperative manipulators." Robotica 25, no. 4 (January 15, 2007): 425–32. http://dx.doi.org/10.1017/s0263574706003201.

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SUMMARYIn this paper, two nonlinear $\mathcal{H}_{\infty}$ control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators $\mathcal{H}_{\infty}$ control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.
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Kyatkin, A. B., and G. S. Chirikjian. "Synthesis of Binary Manipulators Using the Fourier Transform on the Euclidean Group." Journal of Mechanical Design 121, no. 1 (March 1, 1999): 9–14. http://dx.doi.org/10.1115/1.2829438.

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In this paper we apply the Fourier transform on the Euclidean motion group to solve problems in kinematic design of binary manipulators. In recent papers it has been shown that the workspace of a binary manipulator can be viewed as a function on the motion group, and it can be generated as a generalized convolution product. The new contribution of this paper is the numerical solution of mathematical inverse problems associated with the design of binary manipulators. We suggest an anzatz function which approximates the manipulator’s density in analytical form and has few free fitting parameters. Using the anzatz functions and Fourier methods on the motion group, linear and non-linear inverse problems (i.e., problems of finding the manipulator’s parameters which produce the total desired workspace density) are solved.
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Ashchepkova, Natalya Sergeevna. "STABILITY ANALYSIS OF SOFTWARE MANIPULATOR MOVEMENTS USING MATHCAD." Journal of Rocket-Space Technology 27, no. 4 (December 30, 2019): 52–57. http://dx.doi.org/10.15421/451908.

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Abstract. The method of the stability analysis of the manipulator program movements with use of Mathcad applied programs package is offered. On the basis of the manipulator’s kinematic scheme, the matrices of homogeneous transformations of Denavit Hartenberg are formed and a mathematical model of the extended control object is drawn up. An outline of an extended object control system consisting of a manipulator and an actuator is presented. For example, the linear equations of the manipulator, actuators, meter and controller are considered. The task of synthesizing the manipulator control algorithm is to determine the coefficients of the matrix transfer function of the controller that satisfy the conditions of stability and quality of transients. Mathematical modeling of manipulator programmatic movements was performed using the Matchad application package. The analysis of simulation results allows us to evaluate: manipulator workspace, control system performance, grip positioning accuracy, dependence of grip positioning error on the nature of load and the law of motion. A change in the dynamic characteristics of an extended control object causes a change in the controllability of systems, for the considered example rang Q = 2, i.e. the system is fully controllable. This method can be used to analyze the manipulation of the manipulator at the design stage; allows to determine the influence of design, kinematic and dynamic parameters on the manipulation of the manipulator and perform mathematical modeling of the manipulator motion. Calculation examples are given that confirm the expediency and effectiveness of using the Mathcad application software package to solve this type of problem.
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Saito, Takashi Kei, Kento Onodera, Riku Seino, Takashi Okawa, and Yasushi Saito. "300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot." Journal of Robotics and Mechatronics 33, no. 1 (February 20, 2021): 141–50. http://dx.doi.org/10.20965/jrm.2021.p0141.

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We designed a new telescopic manipulator that uses a clustered elastic convex tape. The manipulator has an ultra-wide expansion range and toughness against mechanical stress. Compared to conventional linear actuators, our convex-type manipulators have high extension range and are very lightweight. Moreover, they are compact when rolled up. The telescopic manipulators designed in the previous study had insufficient output due to structural problems and were unstable. In this study, we report a Type-K telescopic manipulator mechanism (Makijaku-Ude Type-K), which is a redesigned manipulator that can be easily used with a 300-N class power, and applied the mechanism to a three degrees-of-freedom spatial parallel-mechanism robot.
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Gallardo-Alvarado, Jaime, Horacio Orozco-Mendoza, Alvaro Sánchez-Rodríguez, and Gursel Alici. "Kinematic analyses of novel translational parallel manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 2 (April 4, 2013): 330–41. http://dx.doi.org/10.1177/0954406213484225.

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This study reports on the kinematic analyses of four translational parallel manipulators (3RPC, SPS + 2RPC, RPPR + 2RPC and RPPR + 2PPP) articulated with linear actuators. They are based on serially connected chains which are connected with cylindrical (C), prismatic (P), revolute (R), spherical (S) and universal (U) joints. Of these manipulators, the one which is a fully decoupled, fully isotropic and singularity-free translational parallel manipulator (RPPR+2PPP) offers a one-to-one correspondence between its input and output displacement. This makes its forward and inverse position analyses simpler with a set of linear equations to be solved. Although the other manipulators have coupled kinematics, they still have simpler forward kinematic equations over other well-known translational parallel manipulators reported in the literature. We also employ screw theory to undertake the velocity and acceleration analyses. The primary contribution of this manuscript is to show how the 3-RPC translational parallel manipulator can be gradually modified in order to obtain a fully isotropic, fully decoupled and singularity-free translational parallel manipulator.
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Tso, S. K., M. L. Lai, and P. L. Law. "Variable-Structure Linear-Model-Following Control of Manipulators." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 207, no. 1 (February 1993): 35–45. http://dx.doi.org/10.1243/pime_proc_1993_207_313_02.

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The paper describes the interaction between modelling, control and adaptation of a variable-structure model-following method applied to highly non-linear plants. The method is particularly appealing in the control of high-performance robot manipulators. The problems concerned with its application are discussed with reference to the use of a controller in a commercial manipulator as a case study.
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Kohli, D., Soo-Hun Lee, Kao-Yueh Tsai, and G. N. Sandor. "Manipulator Configurations Based on Rotary-Linear (R-L) Actuators and Their Direct and Inverse Kinematics." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 4 (December 1, 1988): 397–404. http://dx.doi.org/10.1115/1.3258936.

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In this paper, a new type of two-degree-of-freedom actuator called the rotary-linear (R-L) actuator is described. The R-L actuator permits a rotation and a translation along the axis of rotation, thus simulating a cylinder pair. The R-L actuators are then used in type synthesis of mechanical manipulator chains. Closed-loop three-, four, five, and six-degree-of-freedom chains containing four to nine links, R-L actuators, revolute pairs (R), prismatic pairs (P), cylindrical pairs (C), and spheric pairs (S) are then obtained. A class of manipulator configurations where the hand is connected to the ground via six-degree-of-freedom dyads or triads and containing three grounded R-L actuators is treated for inverse kinematics. Since all the actuators are on the ground in this configuration, higher payload capacities and smaller actuator sizes can be expected from these configurations. In addition, generally, the computations required for inverse kinematics are also significantly less than those required for serial link open-loop manipulators. The direct kinematics, however, is much more involved and computationally intensive for these manipulators than for serial-link manipulators. The direct kinematics of an example manipulator is derived and requires solution of a 16th-order polynomial equation. Numerical examples are presented for illustration.
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Lu, Yi, Zhuohong Dai, and Yang Lu. "Precise Stiffness and Elastic Deformations of Serial–Parallel Manipulators by Considering Inertial Wrench of Moving Links." Robotica 38, no. 12 (January 31, 2020): 2204–20. http://dx.doi.org/10.1017/s0263574720000041.

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SUMMARYA general serial–parallel manipulator connected in series by two different parallel manipulators with linear active legs is constructed. Its precise stiffness and elastic deformations are studied systematically. Its unified precise stiffness and precise elastic deformation models are established by considering both the moving links inertial wrench and the dynamic active/constrained wrench. A 3SPR+3RPS-type serial–parallel manipulator is illustrated for solving its precise stiffness and precise elastic deformation. The derived formulae of the precise stiffness and the precise elastic deformations of the general serial–parallel manipulator are verified by the theoretical solutions of the 3SPR+3RPS serial–parallel manipulator.
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Dissertations / Theses on the topic "Linear manipulator"

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Lima, Jeferson José de [UNESP]. "Dinâmica e controle de manipuladores robóticos flexíveis, excitados por carregamento não-linear e não-ideal." Universidade Estadual Paulista (UNESP), 2017. http://hdl.handle.net/11449/152144.

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Manipuladores robóticos leves trazem diversas vantagens quanto ao custo de produção e eficiência na relação carga útil e peso do robô. No entanto a utilização de materiais leves tende a aumentar a flexibilidade estrutural, principalmente na transmissão do torque e nos elos. As propostas de manipuladores apresentadas neste trabalho possuem requisitos conflitantes, pois deseja-se a redução do peso dos mecanismos e aumentar o desempenho, surgem então alguns desafios de engenharia. Desta forma, esta tese trata da modelagem mecânica, análise dinâ- mica e controle híbridos, utilizando atuadores inteligentes, para manipuladores robóticos com características flexíveis. Dois principais modelos de manipuladores robóticos com características flexíveis serão considerados neste trabalho: um para carregamento de carga conectadas a um cabo e outro para manuseio de ferramenta rotativa, ambos com interação não-ideal do elemento manipulado. É possível verificar comportamento caótico ao adicionar a carga aos manipuladores, trazendo assim, maiores desafios a proposta de controle. Na estratégia de controle são considerados como atuadores os motores CC (Corrente Contínua) e atuadores classificados como materiais inteligentes como a Liga de Memória de Forma (LMF), atuando nos elos flexí- veis, e freio Magneto-Reológico (MR-Brake), atuando nas juntas flexíveis. Utilizou-se da rede neural RBFNN para estimativa das variáveis de controle dos atuadores LMF e MR-Brake. O controle DSDRE (Discrete State Dependent Ricatti Equation) é utilizado como a lei de controle. Os resultados numéricos mostram que a adição de atuadores híbridos trazem um ganho considerável no controle de vibração e posicionamento dos manipuladores.
Light-weight robotic manipulators have advantages over the cost of production and efficiency in relation to payload and weight of the robot. However, the use of light-weight materials tends to increase structural flexibility in torque transmission and in the links of the robot. The manipulator proposals presented in this work have conflicting requirements since it is desired to reduce the weight of the mechanisms and increase the performance, it makes some engineering challenges. Thus, this thesis deals with mechanical modeling, dynamic analysis and hybrid control, using intelligent actuators, for robotic manipulators with flexible characteristics. Two models of robotic manipulators with flexible characteristics will be considered in this work: one for payload connected to a cable and another one for rotary tool, both with non-ideal interaction of the manipulated element. It is possible to verify chaotic behavior by adding the load to the manipulators, becoming a great challenger to the proposal control. DC motors and actuators classified as intelligent materials such as the shape memory alloy (SMA), acting on the flexible links, and Magneto-Rheological Brake (MR-Brake), acting on the flexible joints, are used in the strategy control. The neural network RBF was used to estimate the control variables of the SMA and MR-Brake actuators. The DSDRE (Discrete State Dependent Ricatti Equation) control is used as the control law. The numerical results show that the addition of hybrid actuators possibly have a considerable gain in the control of vibration and positioning of the manipulators.
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Ho, Eric. "Linear Macro-Micro Positioning System Using a Shape Memory Alloy Actuator." Thesis, University of Waterloo, 2004. http://hdl.handle.net/10012/816.

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The use of high-precision automated equipment is steadily increasing due in part to the progressively smaller sizes of electronic circuits. Currently, piezoelectric transducers (piezos) dominate as the actuation device for high precision machines, but shape memory alloys (SMA) may be a viable alternative to reduce monetary costs. This work explores the implementation of a low-cost linear macro-micro positioning system. The system consists of a modified printer carriage to provide long range, macro scale linear motion (approximately 200 mm range and 200 µm precision) and a micro scale system (approximately 4 mm range and 5 µm target precision) that uses an SMA actuator. A detailed description of the design and implementation of the system is given in this research. A model of the macro-stage is then generated by first identifying and inverting a simple friction model to linearize the system, thereby allowing for modified least squares (MLS) identification of a linear model. Various controllers are attempted for the macro-stage and compared with an experimentally tuned nonlinear PD controller that is implemented in the final design. A model of the micro-stage is derived through analysis of the SMA actuator. The model for the actuator is separated into two portions, an electro-thermal model, and a hysteresis model. The hysteresis model is derived using the Preisach model, and the electro-thermal model through MLS identification. To control the micro-stage, a PI controller with antiwindup is developed experimentally. The two stages are then executed together in closed loop and the resulting coupling between the two stages is briefly examined. Experimental data used for the modelling and design is presented, along with results of the final macro-micro linear positioning system.
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Trutter, H. Benjamin. "A Finite Element Method for Linear Modeling and Control of a Single Flexible Link Robotic Manipulator." Thesis, Southern Illinois University at Edwardsville, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1560924.

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A linear finite element procedure is presented for modeling a single flexible link robotic manipulator system. The model takes into consideration the DC motor, torsional springs/dampers, cantilever beam and the accelerometer at the tip. The finite element method for system modeling is validated through comparison to experimental data using the frequency response. With a validated model for the system, feedback control is implemented for vibration reduction and accurate positioning of the beam tip. The accuracy of the controlled model is compared to experiment and a discrete time transfer matrix method of modelling. The closed-loop finite element method model exhibited an accurate response, related to experiment, with encoder feedback and accelerometer feedback using digital compensators

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Vojtěch, Michael. "Konstrukční návrh tříosého manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231951.

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The goal of master’s thesis is design of a three-axis manipulator working as x-ray unit. Axis include one rotary and two liner. The work is based on the existing manipulator and the goals are reducing vertical installation space, weight reduction, increasing accuracy and repeatability. Creating 3D model with computational report from available components. There is resulting variant solved with linear motor in this thesis with that there is indicated alternative variant but not dealt with in detail.
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Rijo, Marcos Giovane de Quevedo. "Desenvolvimento da base e controle do grau de liberdade rotacional de um robô cilíndrico com acionamento pneumático." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2013. http://hdl.handle.net/10183/75734.

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Este trabalho aborda o desenvolvimento da estrutura da base e do sistema de acionamento, transmissão e controle do 1º grau de liberdade de um robô cilíndrico de 5 graus de liberdade acionado pneumaticamente. A base é construída com alumínio estruturado de elevada rigidez, o que confere a sua estrutura mecânica baixas deformações em situações de operação do robô. Além de constituir a estrutura de apoio do manipulador, a base serve de repositório para diversos componentes de sensoriamento e comando dos diversos graus de liberdade do robô e ainda apresenta elementos estruturais que são utilizados como acumuladores de ar comprimido que servem para atenuar as flutuações de pressão nos atuadores pneumáticos. O 1º grau de liberdade do robô, de acordo com a concepção de um robô cilíndrico, é relativo ao giro do conjunto de elos do manipulador em torno do eixo vertical. O seu movimento é comandado por um atuador pneumático linear acoplado a um eixo rotativo por uma correia sincronizadora. O controlador proposto é baseado na técnica de realimentação de estados com alocação de polos e compensa a variação do momento de inércia do manipulador devida ao movimento do robô. Este esquema é baseado em um modelo matemático parametrizado que provê continuamente o valor de massa equivalente acoplada ao primeiro grau de atuador de liberdade. Assim, a cada ciclo de controle, os ganhos do controlador são recalculados a partir do valor atual da massa equivalente, visando a compensar sua variação. São apresentados resultados experimentais e discussões sobre o cálculo da massa equivalente e desempenho do controlador no seguimento de trajetória.
This work deals with the design of the base frame, drive, transmission and control systems used in the first degree of freedom of a pneumatically actuated cylindrical robot with five degrees of freedom. The base is constructed with high stiffness aluminum parts, which achieve low mechanical deformation in operational working conditions. Furthermore, the base structure in used as sensor and pneumatic components compartment and comprises aluminum structural elements that are used as accumulators compressed air used for reducing the pressure fluctuations on the pneumatic actuators operation. The first degree of freedom, according to the usual design of a cylindrical robot, is relative to the rotation of the manipulator arm around its vertical axis. This degree of freedom is controlled by a linear pneumatic actuator coupled to a rotary axis mechanism by an industrial synchronous belt. The proposed controller is based on the state feedback technique with pole location and compensates the variation of the moment of inertia of the manipulator due to the motion of the robot. This scheme is based on a parameterized mathematical model that continuously provides the equivalent mass value coupled to the first degree of freedom actuator. So, in each control cycle, the controller gains are recalculated on the basis of the equivalent mass, compensating its variation. Results of experiments and discussions about the equivalent mass calculation and controller performance are presented.
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Soják, Vojtěch. "Konstrukce dvouosého manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231978.

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This master thesis deals with the design of a two-axis manipulator according to entered parameters. In the first chapter provides description of kinematics structures of industrial robots and manipulators and their workspaces. Next parts focus on search in the used components, producers of manipulators and of current design manipulators at JCEE s.r.o. Lanškroun. The practical part deals with the design and construction of custom manipulator and its price calculation.
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Oliveira, Israel Gonçalves de. "Comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicados a manipuladores robóticos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156791.

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Este trabalho apresenta uma comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicadas a manipuladores robóticos. O objetivo no uso desses controladores é para que o manipulador siga referência de trajetória periódica no espaço das juntas. O desenvolvimento e implementação dos controladores são focados no manipulador WAM (Whole Arm Manipulator) da Barrett Technology®Inc. Neste trabalho, também são apresentadas uma formulação do modelo não linear do manipulador e as sínteses dos controladores por torque calculado e repetitivo aplicados ao modelo do manipulador linearizado por realimentação. O controlador por torque calculado é apresentado e sintetizado na sua forma clássica. Para o controlador repetitivo, a síntese parte do princípio do modelo interno com a adição de uma estrutura repetitiva e uma realimentação proporcional e derivativa do erro de seguimento de referência O projeto dos ganhos do controlador repetitivo é feito através de um problema de otimização convexa com restrições na forma de inequações matriciais lineares (ou no inglês: Linear Matrix Inequalities - LMI). A formulação do problema de otimização parte da teoria de estabilidade segundo Lyapunov com um funcional Lyapunov-Krasoviskii, adição de um custo quadrático, para ajuste de desempenho, e de um critério de desempenho transitório dado pela taxa de decaimento exponencial da norma dos estados. É apresentada a comparação entre as estratégias de controle e a validação do controlador repetitivo proposto aplicado ao caso com linearização perfeita e ao caso com o modelo não linear do manipulador. No primeiro caso, é feita a simulação do modelo linear do manipulador com adição de um torque de atrito na junta. No segundo caso, é utilizado o sistema ROS (Robot Operating System) com o programa Gazebo simulando o manipulador WAM considerando erros de linearização, isto é, incertezas paramétricas.
This work presents a comparison between the strategies of computed-torque control and repetitive control applied to robotic manipulators. The main objective in use these controllers with the manipulator is to tracking periodic trajectory in joint space. The development and implementation of controllers are focused on the Whole Arm Manipulator (WAM) of the Barrett Technology®Inc. Also featured are a non-linear model formulation of the manipulator and the synthesis of controllers for computed-torque control and repetitive control applied to the manipulator model linearized by state feedback. The computed-torque controller is presented in its classic form. For the repetitive controller, the synthesis is based on the internal model principle with the addition of a repetitive structure and a proportional-derivative reference tracking error feedback. The design of the repetitive controller gains is done through a convex optimization problem with linear matrix inequalities (LMI) constraints. The formulation of the optimization problem is based on the Lyapunov stability theory using a Lyapunov-Krasoviskii functional, addition of a quadratic cost for performance adjustment and a transient performance criteria given by the exponential decay rate of the states norm. A comparison between the control strategies and the validation of the repetitive controller applied to the case with perfect linearization and the case with the non-linear model of the manipulator are presented. In the first case, is made simulations of the linear model of the manipulator in MATLAB program, with the addition of a disturbance modeling the friction torque at the joint. In the second case, is used the Robot Operating System (ROS) with Gazebo program simulating the WAM nonlinear model. In this case, a possible mismatch between the model used for the feedback linearization and the real system is taken into account.
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Rydlo, Andrej. "Automatická výměna nástrojů - napichovací rameno." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417764.

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Adressed topic of the thesis is automatic tool change in industrial machining. Core work is done on construction design of automatic tool changer. Designed manipulator grabs the tool by linear movement and is meant to be used with unspecified horizontal machining centre. Individual working cells include design of grippers, extending motion of the arm, rotary motion of the arm and linear motion of the whole manipulator. Essential part of the thesis are technical calculations and simulations.
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Florián, Michal. "Návrh paletizačního manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229295.

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The matter of this master´s thesis is the construction of two variations of manipulator for palletization. The first solution is the derrick manipulator; the second one is the gantry manipulator. The aim of this master´s thesis is the comparison of both solutions from the point of view of the applicability, the cost and the demandingness of production. The productinon documentation will be elaborated for the selected solution.
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Domino, Lucie. "Contrôle et manipulation d'ondes hydroélastiques." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLET020.

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Cette thèse porte sur la physique des ondes, dans le but de contrôler leur propagation. Nous cherchons à mettre en évidence des phénomènes communs à toutes les ondes grâce à un système expérimental modèle utilisant les ondes à la surface d’un liquide. Plus précisément, nous choisissons de travailler avec des ondes hydroélastiques en couvrant la surface du liquide avec un film élastique. Les déformations élastiques de cette membrane sont couplées aux mouvements du fluide, de sorte qu’en modifiant les propriétés de la membrane nous pouvons agir sur la propagation des ondes. Ainsi, en changeant localement l’épaisseur du film élastique nous montrons qu’il est possible de dévier, réfléchir ou encore focaliser les ondes. Ensuite, en structurant périodiquement la membrane nous mettons en évidence des effets liés à la périodicité et/ou à la nature des objets formant le réseau régulier. Nous utilisons des perforations circulaires dont nous varions le diamètre, l’espacement et l’arrangement dans l’espace, ce qui nous permet de contrôler très finement le comportement des ondes dans le cristal artificiel ainsi formé. Nous mettons notamment en évidence l’existence de bandes interdites de propagation. Enfin, nous re-visitons l’instabilité de Faraday, connue en hydrodynamique, en vibrant verticalement un bain liquide recouvert d’une membrane élastique, et nous montrons que cette instabilité existe également pour les ondes hydroélastiques
This thesis deals with waves at the surface of a liquid, and aims at controlling their propagation. We want to show universal results, valid for all waves, using model experiments. We work with hydroelastic waves, obtained with an elastic membrane that covers the liquid surface. The elastic deformation of this membrane couples with the motion of the fluid, so that we can change the propagation of the waves by modifying the properties of the elastic cover. We show that if we locally change the thickness of the elastic cover, we can deviate, reflect or focus the waves. We then periodically structure the membrane and thus unveil effects due to he periodicity and/or the nature of the objects that form the regular array. We use an ensemble of circular perforations of which we vary the diameter, the spacing and the pattern, in order to accurately control the propagation of the waves in this artificial crystal. In particular, we show that there exist band gaps for the waves. Lastly, we re-visit the Faraday instability, known in hydrodynamics, by vertically vibrating a fluid layer covered with an elastic membrane, and we show that this instability also exist for hydroelastic waves
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Books on the topic "Linear manipulator"

1

P. Th. L. M. van Woerkom. Linear recursive formulation of flexible multibody space systems dynamics. Amsterdam: National Aerospace Laboratory, 1990.

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Schwarz, Fritz. Loewy Decomposition of Linear Differential Equations. Vienna: Springer Vienna, 2012.

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Lewis, F. W., S. Jagannathan, and A. Yesildirak. Neural Network Control Of Robot Manipulators And Non-Linear Systems (Series in Systems and Control). CRC, 1998.

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Schwarz, Fritz. Loewy Decomposition of Linear Differential Equations. Springer, 2012.

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Schwarz, Fritz. Loewy Decomposition of Linear Differential Equations. Springer, 2014.

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Magleby, Daniel B., Michael D. McDonald, Jonathan Krasno, Shawn J. Donahue, and Robin E. Best. Gerrymandering. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190934163.003.0005.

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Chapter 5 analyzes the contentious issue of partisan gerrymandering—a process of designing the boundaries of electoral districts to favor either Republican or Democratic candidates. The chapter argues, and then shows, that coming to a standard of what constitutes a partisan gerrymander revolves around the concept of how, when, and where a districting plan dilutes some people’s votes. Manipulated district boundaries, often with bizarre shapes and associated with seemingly excessive wins by one party, receive more attention than they are due. More states than not choose to manipulate district boundaries in ways that are out of line with what could be expected from any sort of partisan blind process. The chapter presents a valid and reliable indicator that can be used to distinguish between manipulations that violate electoral integrity and those that do not.
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Furst, Eric M., and Todd M. Squires. Laser tweezer microrheology. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199655205.003.0009.

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To many, the idea that light can be used to hold and manipulate matter is probably quite foreign. The photon is a seemingly evanescent particle; its interactions with matter are weak. But while it has no rest mass, a photon carries momentum. Optical traps have become important tools used to measure forces on nanometer to micrometer length scale. Laser tweezers can be used to drive (or hold) microrheological probes. Optical trapping forces are reviewed and optical trap designs discussed, incluing the use of fixed and moving reference frame optical traps. Proper calibration of optical traps especially in the material under test is discussed. Linear and non-linear measurements using laser tweezers are presented, including shear thinning of colloidal dispersions when probes are translated through a suspension. The operating regime of laser tweezer microrheology is presented.
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Glazov, M. M. Interaction of Spins with Light. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198807308.003.0006.

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This chapter presents the details of the optical manipulation of electron spin states. It also addresses manifestations of the electron and nuclear spin dynamics in optical response of semiconductor nanostructures via spin-Faraday and -Kerr effects. Coupling of spins with light provides the most efficient method of nonmagnetic spin manipulation. The main aim of this chapter is to provide the theoretical grounds for optical spin injection, ultrafast spin control, and readout of spin states by means of circularly and linearly polarized light pulses. The Faraday and Kerr effects induced by the electron and nuclear spin polarization are analyzed both by means of a macroscopic, semi-phenomenological approach and by using the microscopic quantum mechanical model. Theoretical analysis is supported by experimental data.
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Papanikolaou, Eftychia. On the British Reception of Ken Russell’s Mahler. Oxford University Press, 2017. http://dx.doi.org/10.1093/oso/9780199316090.003.0009.

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Ken Russell’s Mahler (1974) constitutes aesthetically and historically one of the most idiosyncratic and rewarding composer biopics. With a train as locus of the diegesis, the narrative provides overlapping flashbacks interspersed with fantasy and dream sequences. The viewer must put together Mahler’s life as if in a temporal puzzle, in a non-teleological fashion that contrasts with the linear progression of time implied by the train’s journey. Despite historical inconsistencies and extravagant presentation, the film offers commentary on a composer still being discovered. Its visual and aural synchronisations between Mahler’s memories and his music re-construct and manipulate Mahler’s—and also the audiences’—memories, and comment on the reception of Mahler’s life and music at that particular point in time, thus perpetuating existing images and ideologies. Rather than a study in myth-making, making encapsulates and appropriates the reception of the Mahler myth.
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Parsons, Laurel, and Brenda Ravenscroft. Amy Beach, “Phantoms,” Op. 15, No. 2 (1892). Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780190237028.003.0010.

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With “Phantoms,” the second solo piano piece from her Four Sketches op. 15 (1892), American composer Amy Beach adopts a “strategic” approach to tonality that manipulates formal, harmonic, and linear closure. The analysis presented in this chapter demonstrates, through a close reading of the phrase structure, harmonic vocabulary, textures, motivic design, and voice leading of the piece, Beach’s aptitude for tonal obfuscation, which she employs to convey a sense of the epigraph she borrowed from Victor Hugo: “Toutes fragiles fleurs, sitôt que nées” (“Such fragile flowers, as soon as they are born”). The melody she constructs is indeed fragile, floating as it does over various “misharmonizations,” and including not one but two gaps in its descent from ‸5 to the tonic. By avoiding explicit melodic reference to ‸4 and ‸2 and making abundant use of registral coupling, Beach compellingly captures the ethereal quality of the flowers described by Hugo.
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Book chapters on the topic "Linear manipulator"

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Fantoni, Isabelle, and Rogelio Lozano. "The PPR planar manipulator." In Non-linear Control for Underactuated Mechanical Systems, 129–42. London: Springer London, 2002. http://dx.doi.org/10.1007/978-1-4471-0177-2_9.

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Grijalva, David F., Jaime A. Alegría, Víctor H. Andaluz, and Cesar Naranjo. "Non-linear Control of Aerial Manipulator Robots Based on Numerical Methods." In Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices, 97–107. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-55789-8_9.

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Isenberg, Douglas R. "Sensorless Force Estimation for a Two-Link Manipulator Based Upon Linear Dynamics." In Progress in Systems Engineering, 315–22. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-08422-0_47.

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Hufnagel, T., C. Reichert, and D. Schramm. "Centralized Non-linear Model Predictive Control of a Redundantly Actuated Parallel Manipulator." In New Trends in Mechanism and Machine Science, 621–29. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4902-3_65.

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Kang, Hee-Jun, Jeong-Woo Jeong, Sung-Weon Shin, Young-Soo Suh, and Young-Schick Ro. "Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor." In Advanced Intelligent Computing Theories and Applications. With Aspects of Artificial Intelligence, 1102–9. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-74205-0_114.

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Lovasz, Erwin-Christian, Sanda Margareta Grigorescu, Dan Teodor Mărgineanu, Corina Mihaela Gruescu, Cristian Pop, Valentin Ciupe, and Inocentiu Maniu. "Geared Linkages with Linear Actuation Used as Kinematic Chains of a Planar Parallel Manipulator." In Mechanisms, Transmissions and Applications, 21–31. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-17067-1_3.

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Grigorescu, Sanda Margareta, Antonio-Marius-Flavius Lupuţi, Inocentiu Maniu, and Erwin-Christian Lovasz. "Novel Planar Parallel Manipulator Using Geared Slider-Crank with Linear Actuation as Connection Kinematic Chain." In New Trends in Mechanism and Machine Science, 496–505. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-55061-5_56.

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Grigorescu, S. M., E. C. Lovasz, D. T. Mărgineanu, C. Pop, and F. Pop. "Dimensional Synthesis of Planar Parallel Manipulator Using Geared Linkages with Linear Actuation as Kinematic Chains." In New Advances in Mechanisms, Mechanical Transmissions and Robotics, 77–85. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_8.

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Woernle, Christoph. "Trajectory Tracking for a Three-Cable Suspension Manipulator by Nonlinear Feedforward and Linear Feedback Control." In Mechanisms and Machine Science, 371–86. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31988-4_23.

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Suhail, Suhail Ahmad, Mohammad Abid Bazaz, and Shoeb Hussain. "Optimal Tuned Linear Active Disturbance Rejection Control Applied to a 2-DOF Robotic Arm Manipulator." In Proceedings of 6th International Conference on Recent Trends in Computing, 665–75. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-33-4501-0_62.

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Conference papers on the topic "Linear manipulator"

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Kyatkin, Alexander, and Gregory S. Chirikjian. "Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5993.

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Abstract In this paper we apply the Fourier transform on the Euclidean motion group to solve problems in kinematic design of binary manipulators. We begin by reviewing how the workspace of a binary manipulator can be viewed as a function on the motion group, and how it can be generated as a generalized convolution product. We perform the convolution of manipulator densities, which results in the total workspace density of a manipulator composed of double the number of modules. We suggest an anzatz function which approximates the manipulator’s density in analytical form and has few free fitting parameters. Using the anzatz functions and Fourier methods on the motion group, linear and non-linear inverse problems (i. e. problems of finding the manipulator’s parameters which produce the total desired workspace density) are solved.
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Mohamed, Maher G. "Acceleration Analysis of Platform-Type Manipulators." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1013.

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Abstract The screw algebra is used to efficiently derive expressions in compact form for both the angular accelerations of the moving links and the linear accelerations of points on the links of platform-type manipulators. The analysis employs the property that the acceleration state of the manipulator platform can be determined by considering the acceleration states of the links of only one — any one — of the manipulator legs. The obtained expressions provide an ease in symbolic and algebraic manipulation. The analysis is then extended to specify the acceleration center point of ithe nstantaneous motion of the manipulator platform. The acceleration center point is then used in expressing the distribution of the acceleration field of the platform instant motion which is important in manipulator synthesis. The special case of planar manipulators is studied and simpler expressions are derived. Numerical examples are presented for the analysis of a 3-DOF planar platform-type and of a 6-DOF spatial “Stewart Platform” manipulators to illustrate the analysis procedure.
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Canfield, Stephen L., R. Randall Soper, Scott L. Hendricks, and Charles F. Reinholtz. "Velocity Analysis of Truss-Type Manipulators." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1158.

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Abstract A generalized method for the velocity analysis of truss-type manipulators is presented. This analysis relies on a priori knowledge of the position analysis for the manipulator. The approach uses a connectivity chart to define the equations required to determine the velocities of the nodal points of the truss. The problem of determining the nodal velocities is formulated as a linear algebraic relationship for ease of analytical and numerical manipulation. Once each nodal velocity is known, a general description of the overall manipulator velocity is formed by determining the instantaneous screw axis for the output plane. An analytical method for characterizing this output velocity in terms of the instantaneous screw axis is presented. Analysis of each of the four basic variable geometry truss modules (tetrahedron, octahedron, decahedron, and dodecahedron) is presented. Although ad hoc velocity analyses of many of these manipulators have been presented in the past, the technique presented in this paper is unified for any truss-type manipulator.
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Agrawal, Sunil Kumar, and R. Garimella. "A Path Planning Algorithm for a Free-Floating Closed-Chain Planar Manipulator." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0437.

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Abstract The base of free-floating manipulators is not inertially fixed. For these manipulators, the linear and angular momentum are conserved. The linear momentum equations are holonomic while the angular momentum equations are nonholonomic. The presence of nonholonomic constraints makes the path-planning schemes, commonly used for fixed-base manipulators, unsuitable for free-floating manipulators. In this paper, we first apply inverse position and inverse rate kinematics path-planning schemes to a free-floating closed-chain planar manipulator and show that these schemes have shortcomings. Then, a working path-planning scheme is described which is based on careful study of the rate kinematics of the free-floating closed-chain manipulator. This algorithm is implemented and the graphical simulations are presented.
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Jinfeng, Huang, Li Zhanxian, Yang Zhijie, and Ding Qizhi. "Linear control of a spherical parallel manipulator." In 2011 International Conference on Electronics, Communications and Control (ICECC). IEEE, 2011. http://dx.doi.org/10.1109/icecc.2011.6067570.

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6

Yeh, Chuntien. "Vibration and Control of the Flexible Manipulator." In ASME 1993 International Computers in Engineering Conference and Exposition. American Society of Mechanical Engineers, 1993. http://dx.doi.org/10.1115/cie1993-0054.

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Abstract Because of the structural flexibility of the flexible manipulator, the exercise of effective control is a challenging problem. Thus, the development of an effective control system must encompass consideration of the manipulator elasticities. This paper proposes a two-stage control algorithm, including (1) computer-aided trajectory scheduling to drive a hypothetical rigid-body manipulator “close” to the standards of actual flexible manipulators, and (2) a linear-state feedback controller based upon the hypothetical model. The proposed algorithm is implemented for a two-link, rigid/flexible manipulator. Based upon simplified computational requirements, comparison of the proposed procedure to those previously considered indicates that it is capable of providing effective means of control.
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Ottaviano, Erika, Marco Ceccarelli, and Gianni Castelli. "Experimental Results of a 3-DOF Parallel Manipulator as an Earthquake Motion Simulator." In ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/detc2004-57075.

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Parallel manipulators are increasingly used in new applications by exploiting their better characteristics with respect to those of serial manipulators, such as higher stiffness, velocity and acceleration, payload. In this paper, experimental results are presented of a novel application of a 3-DOF CaPaMan (Cassino Parallel Manipulator) prototype to simulate point seismograms and 3D earthquake motion. The rigid body acceleration (linear acceleration, angular velocity and acceleration) has been experimentally analyzed to simulate real 3D earthquakes by using the parallel manipulator. Furthermore, first experimental results are reported to analyze earthquake effects on scaled civil structures.
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Ona, Alex, Victor Vimos, Marco Benalcazar, and Patricio J. Cruz. "Adaptive Non-linear Control for a Virtual 3D Manipulator." In 2020 IEEE ANDESCON. IEEE, 2020. http://dx.doi.org/10.1109/andescon50619.2020.9272154.

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Chassikos, Anastassios G., H. Ali Pak, and Petros A. Ioannou. "Non-Linear Robust Adaptive Control of a SCARA Manipulator." In 1989 American Control Conference. IEEE, 1989. http://dx.doi.org/10.23919/acc.1989.4790419.

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Lampinen, Santeri, Janne Koivumäki, and Jouni Mattila. "Bilateral Teleoperation of a Hydraulic Robotic Manipulator in Contact With Physical and Virtual Constraints." In BATH/ASME 2018 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/fpmc2018-8842.

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Teleoperated robotic manipulators can be used to remotely operate within hazardous, hard to reach or dangerous environments. In tasks requiring handling of heavy objects with high forces, hydraulic manipulators have remained the most practical solution. Contrary to the previous research on teleoperation of hydraulic manipulators based on linearization and linear control theory, the present study proposes a full-dynamics-based bilateral force-reflected teleoperation, designed between a multiple degrees-of-freedom (n-DOF) electrical master manipulator and an n-DOF hydraulic slave manipulator. The used teleoperation method allows arbitrary motion and force scaling between the n-DOF manipulators, effectively enabling the use of two greatly dissimilar manipulators. The proposed teleoperation system is demonstrated with a full-scale two-DOF hydraulic slave manipulator (having 475 kg payload attached to the tip) in a free-space motion task, and in a constrained motion task including both real and virtual constraints in the environment. Despite the inherent highly nonlinear dynamic behaviour of hydraulic systems and challenges in realizing a bilateral teleoperation, the experimental results demonstrate that the proposed controller for full-dynamics-based teleoperation 1) can rigorously address the system nonlinearities, 2) can realize a high-performance bilateral teleoperation with hydraulic slave manipulators, and 3) is capable to operate in constrained motion with the environment having both real and virtual (i.e., artificially rendered) constraints.
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Reports on the topic "Linear manipulator"

1

Lemery, Francois. Beam manipulation and acceleration with Dielectric-Lined Waveguides. Office of Scientific and Technical Information (OSTI), June 2015. http://dx.doi.org/10.2172/1221358.

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Yull, Fiona. Manipulation of Nf-KappaB Activity in the Macrophage Lineage as a Novel Therapeutic Approach. Fort Belvoir, VA: Defense Technical Information Center, May 2008. http://dx.doi.org/10.21236/ada487648.

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Yull, Fiona E. Manipulation of NF-KappaB Activity in the Macrophage Lineage as a Novel Therapeutic Approach. Fort Belvoir, VA: Defense Technical Information Center, May 2005. http://dx.doi.org/10.21236/ada439787.

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Yull, Fiona E. Manipulation of NF-KappaBetta Activity in the Macrophage Lineage as a Novel Therapeutic Approach. Fort Belvoir, VA: Defense Technical Information Center, May 2007. http://dx.doi.org/10.21236/ada471493.

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The program is built on the use of a graphical interface. Its main controls are a graphical manipulator (mouse or other similar) and a keyboard. The program provides a variety of control elements - buttons, input lines, elements of the table presentation of data. OFERNIO, 2017. http://dx.doi.org/10.12731/ofernio.2018.23471.

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