Log in

Relevant bibliographies by topics / –link robot manipulator

Contents

Journal articles
Dissertations / Theses
Books
Book chapters
Conference papers
Reports

Academic literature on the topic '–link robot manipulator'

Author: Grafiati

Published: 5 June 2025

Last updated: 16 July 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the lists of relevant articles, books, theses, conference reports, and other scholarly sources on the topic '–link robot manipulator.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Journal articles on the topic "–link robot manipulator"

1

Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

Full text

Abstract:

Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.

APA, Harvard, Vancouver, ISO, and other styles

2

Omarov, M., V. Korobskyi, and V. Nevliudova. "FEATURES OF KINEMATICS AND CONTROL OF MULTI-LINK MANIPULATOR ROBOTS." Системи управління, навігації та зв’язку. Збірник наукових праць 1, no. 71 (2023): 127–33. http://dx.doi.org/10.26906/sunz.2023.1.127.

Full text

Abstract:

The subject of research is multi-link manipulators, their kinematics and methods of controlling multi-link manipulator robots. To improve the accuracy of movement of each link and their synergy of work with each other during operation. In addition, the subject of the research is the analysis of the requirements for multi-link robot manipulators and the improvement of the kinematics of the robot-manipulator movements based on the comparison of mathematical methods in operating conditions. In different operating conditions manipulators and the automation of the production line is a big step for industry. Instead of a traditional industrial robot, a multi -link manipulator robot can be a good intermediate solution. It is more maneuverable, flexible, and has more complex movements for working on serial production. Multi-link robots provide a quick replacement of skilled labor in case of a shortage of employees or when production needs to be accelerated. As with any revolutionary technology, it is necessary to be critical of its implementation. The most decisive advantage of a robot over a single-link industrial robot is flexibility. Especially since the production environment needs to be able to adapt to handle the work with small volumes and a large number of different tasks. Such robots are more mobile and take up less space than traditional industrial robots. They are easier to reprogram to perform different jobs or product variants. However, it is worth noting that programming a traditional robot, which in its specialized environment requires deep knowledge and endless settings. When using a robot, the entry barrier for operators is significantly reduced, while deployment and ROI are accelerated. The aim of the work is to determine how the project context affects the choice of motion techniques and to determine the dependencies between requirements discovery methods. The article solves the following tasks: to study the trajectory of robots and compare mathematical control methods. Requirements in industry, create and draw a parallel regarding the practice of using demonstration robots and requirements in real conditions of using multi-link structures, determine the preferences of practitioners regarding detection methods and determine how the project context affects the choice of requirements detection techniques, determine dependencies between requirements detection methods. The task using such a method as a parametric form of the task is to prove that: the mathematical model of motion trajectories is the most reliable. Development and improvement of kinematic movements of manipulators with synergy of movements between manipulators. The following results were obtained: The best detection methods were identified and compared with other comprehensive studies. Conclusion: It was concluded that the choice of the shape of the wave-like trajectory of the movement; a traveling wave in a coordinate system moving along this sine wave form should be used as a control program for an automatic drive system. The assignment of a form in the form of a sine wave appears unsuitable for this task, because the obvious disadvantage of the sine wave is a continuous change in curvature and greater curvature at the peaks at large amplitudes.

APA, Harvard, Vancouver, ISO, and other styles

3

Glushko, S. P. "Calculation of Angular Coordinates for the Control System of a Two-Link Industrial Robot Manipulator." Advanced Engineering Research 22, no. 4 (2023): 346–52. http://dx.doi.org/10.23947/2687-1653-2022-22-4-346-352.

Full text

Abstract:

Introduction. One of the tasks of two-link manipulators of industrial robots that move the end-effector along complex trajectories (e.g., robot welder) is associated with the need for careful programming of their movement. For these purposes, manual programming methods or training methods are used. These methods are quite labor-intensive, and they require highly qualified service personnel. A possible solution to the problem of programming the manipulator movements is the simulation of motion with the calculation of angular coordinates. This can help simplify the geometric adaptation of the manipulator in the process of debugging the control program. Therefore, this work aimed at calculating coordinates for programming the control system of a two-link manipulator operating in an angular coordinate system and moving the end-effector along a complex trajectory (e. g., when welding car bodies). Materials and Methods. A two-link robot manipulator designed for cyclically repeating actions in an angular coordinate system was considered. The manipulator consisted of two rotating links: “arm” and “elbow”, which were fixed on the base. The base could rotate, which provided a third degree of freedom. This configuration increased the working area of the manipulator and minimized the area for its placement in production. The movement of the manipulator end-effector could be performed if the kinematics provided its positioning along three Cartesian and three angular coordinates. For software control of robots, including welding robots operating in an angular coordinate system and performing the movement of the end-effector along a complex trajectory, it was required to calculate the angular coordinates of the movement of the end-effector of a two-link articulated manipulator. The robot control system should determine the position of the tool in the angular coordinate system, converting it for user friendliness into x, y and z coordinates of the Cartesian coordinate system. Results. The relations of angular and Cartesian coordinates have been obtained. They can be used for calculating when programming the control system of a two-link manipulator of an industrial robot and organizing the exchange of information between the user and the control system, as well as for checking the accuracy and debugging the movement of the end-effector of an industrial robot through feedback. Discussion and Conclusion. The presented results can be used for software control of a welding robot operating in an angular coordinate system and performing a complex trajectory of the end-effector of a two-link articulated manipulator (gripper). A manipulator operating in an angular coordinate system can be used for contact spot welding when moving the end-effector along a complex trajectory using a positioning or contouring control system. These systems control the movement of the end-effector along a given trajectory with the help of technological commands.

APA, Harvard, Vancouver, ISO, and other styles

4

Gupta, Mukul Kumar, Roushan Kumar, Varnita Verma, and Abhinav Sharma. "Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator." Journal Européen des Systèmes Automatisés 54, no. 4 (2021): 641–47. http://dx.doi.org/10.18280/jesa.540414.

Full text

Abstract:

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

APA, Harvard, Vancouver, ISO, and other styles

5

Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.

Full text

Abstract:

Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation results reveal the effectiveness of both proposed innovative numerical solution technique and control structure for online object manipulation purposes using flexible manipulators. Originality/value – The object manipulation problem has previously been studied, however, for the first time its accomplishment by flexible link manipulators was addressed just in offline form considering an open-loop control structure (Tarvirdizadeh and Yousefi-Koma, 2012). As an extension of Tarvirdizadeh and Yousefi-Koma (2012), the current research, consequently, focusses on a numerical solution and a CL approach for performing DOM by a flexible link manipulator.

APA, Harvard, Vancouver, ISO, and other styles

6

Bhatti, P. K., and S. S. Rao. "Reliability Analysis of Robot Manipulators." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 2 (1988): 175–81. http://dx.doi.org/10.1115/1.3258923.

Full text

Abstract:

A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.

APA, Harvard, Vancouver, ISO, and other styles

7

Zhang, J., and J. Rastegar. "Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective." Journal of Mechanical Design 129, no. 10 (2006): 1086–93. http://dx.doi.org/10.1115/1.2757193.

Full text

Abstract:

Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulation configuration. Alternatively, micro-actuators may be integrated into the structure of the links to vary their kinematics parameters, such as their lengths during the motion. In this paper, the kinematics and dynamics consequences of each of the aforementioned alternative are studied for manipulators with serial and closed-loop chains. It is shown that for robot manipulators constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro- and macro-manipulator configuration by reducing the potential vibration and control problems at high operating speeds. The conclusions reached in this study also apply to closed-loop chains of parallel and cooperating robot manipulators.

APA, Harvard, Vancouver, ISO, and other styles

8

Li, Chang-Jin, and T. S. Sankar. "Linearized Inverse Dynamic Models for Robot Manipulators With Varying Link Parameters." Journal of Mechanical Design 116, no. 1 (1994): 338–43. http://dx.doi.org/10.1115/1.2919370.

Full text

Abstract:

In this paper, two fast computational algorithms are developed for effective formulation for the linearized inverse dynamic robot models with varying (kinematic and dynamic) link parameters. The proposed algorithms can generate complete linearized inverse dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized. The computational complexity of these algorithms is only of order O(n), where n is the number of degrees-of-freedom of the robot manipulator.

APA, Harvard, Vancouver, ISO, and other styles

9

Minami, Mamoru, Hiroshi Tanaka, and Yasushi Mae. "Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 2 (2007): 135–41. http://dx.doi.org/10.20965/jaciii.2007.p0135.

Full text

Abstract:

We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.

APA, Harvard, Vancouver, ISO, and other styles

10

Lo´pez-Linares, S., A. Konno, and M. Uchiyama. "Vibration Controllability of 3D Flexible Manipulators." Journal of Dynamic Systems, Measurement, and Control 119, no. 2 (1997): 326–30. http://dx.doi.org/10.1115/1.2801258.

Full text

Abstract:

Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix and the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations of the manipulator are found.

APA, Harvard, Vancouver, ISO, and other styles

More sources

Dissertations / Theses on the topic "–link robot manipulator"

1

Ekrekli, Alaaddin. "Control & identification of a two link robot manipulator." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316886.

Full text

APA, Harvard, Vancouver, ISO, and other styles

2

Kolaja, Radim. "Článkové roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229730.

Full text

Abstract:

This thesis deals with articulated robots for special applications for confined spaces. Introduction work includes the distribution and development in the field of handling technology. It also deals with the handlers chain structure. Following the described types of articulated robot kinematic model was developed and subsequently implemented the 3D design in SolidWorks. The conclusion is drawn visualizations made-handling arm.

APA, Harvard, Vancouver, ISO, and other styles

3

Шендрик, Віра Вікторівна, Вера Викторовна Шендрик, Vira Viktorivna Shendryk, Е. Kuznetsov, and Y. Mashyn. "Investigation of industrial robot-manipulator computer model motion control." Thesis, Sumy State University, 2017. http://essuir.sumdu.edu.ua/handle/123456789/55777.

Full text

Abstract:

This article provides a technology for develop a physical and mathematical simulation of the robot's computer model. The purpose of the work is to learn how to define the movement of robot elements. A complete, controlled computer model of an industrial robot manipulator has been created. Model control is implemented using the modeling environment software. The technology developed is used to master the basics of robotics.

APA, Harvard, Vancouver, ISO, and other styles

4

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.

Full text

Abstract:

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.)

APA, Harvard, Vancouver, ISO, and other styles

5

Keselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.

Full text

Abstract:

Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.

APA, Harvard, Vancouver, ISO, and other styles

6

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.

Full text

APA, Harvard, Vancouver, ISO, and other styles

7

Lou, Yaolong. "Compensation for nonlinearities in robot manipulators by on-line learning multilayer neural networks /." Düsseldorf : VDI-Verl, 1999. http://www.gbv.de/dms/ilmenau/toc/266816657.PDF.

Full text

APA, Harvard, Vancouver, ISO, and other styles

8

Wang, Peng-Han. "Dynamics and control of multi-link robot manipulators with joint flexibility." Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/25860.

Full text

APA, Harvard, Vancouver, ISO, and other styles

9

Cetinkunt, Sabri. "On motion planning and control of multi-link lightweight robotic manipulators." Diss., Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/19243.

Full text

APA, Harvard, Vancouver, ISO, and other styles

10

Jirák, David. "Návrh automatizace linky pro broušení součásti kompresoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-231020.

Full text

Abstract:

The topic of this diploma thesis was chosen by Valeo Compressor Europe Company. The aim is to propose an automation of the production line for grinding of a compressor part. The part is internally termed “Cylinder,” and it is an integral part of a new type of a rotational compressor for air-conditioning units of automobiles. The diploma thesis includes a complete proposal for the automation of workplace. The current state, the proposal of the concept, technical specification of the project, and the choice of a suitable supplier and economical assessment are included. The data were provided by Valeo Compressor Europe Company.

APA, Harvard, Vancouver, ISO, and other styles

More sources

Books on the topic "–link robot manipulator"

1

Morris, A. S. Quadratic optimal control of a two-flexible-link robot manipulator. University, Dept. of Control Engineering, 1995.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

2

Morris, A. S. Static and dynamic modelling of a two-flexible-link robot manipulator. University, Dept. of Control Engineering, 1995.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

3

Morris, A. S. Multi-mode modelling of a flexible link robot manipulator by A.S. Morris and A. Madani. University, Dept. of Control Engineering, 1995.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

4

V, Patel R., and Khorasani K. 1960-, eds. Flexible-link robot manipulators. Springer, 2000.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

5

Abousetta, El-Mahdi M. Decentralized adaptive control scheme for multi-link robot manipulators. University College Dublin, 1996.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

6

Wang, Peng-Han. Dynamics and control of multi-link robot manipulators with joint flexibility. Naval Postgraduate School, 1989.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

7

United States. National Aeronautics and Space Administration., ed. A vision-based end-point control for a two-link flexible manipulator: A thesis presented to the academic faculty. Georgia Institute of Technology, School of Mechanical Engineering, 1991.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

8

United States. National Aeronautics and Space Administration., ed. Numerical analysis of right-half plane zeros for a single-link manipulator: A thesis presented to the academic faculty. Georgia Institute of Technology, 1992.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

9

United States. National Aeronautics and Space Administration., ed. A vision-based end-point control for a two-link flexible manipulator: A thesis presented to the academic faculty. Georgia Institute of Technology, School of Mechanical Engineering, 1991.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

10

United States. National Aeronautics and Space Administration., ed. A vision-based end-point control for a two-link flexible manipulator: A thesis presented to the academic faculty. Georgia Institute of Technology, School of Mechanical Engineering, 1991.

Find full text

APA, Harvard, Vancouver, ISO, and other styles

More sources

Book chapters on the topic "–link robot manipulator"

1

Maiti, Roshni, Kaushik Das Sharma, and Gautam Sarkar. "Angular Position Control of Two Link Robot Manipulator." In Studies in Systems, Decision and Control. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-97102-1_6.

Full text

APA, Harvard, Vancouver, ISO, and other styles

2

Lenarčič, J. "Minimum Joint Torque Configurations of Planar Multiple-Link Manipulator." In Advances in Robot Kinematics and Computational Geometry. Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_28.

Full text

APA, Harvard, Vancouver, ISO, and other styles

3

Ropponen, Timo, and Yoshihiko Nakamura. "Performance Analysis of Kinematic and Actuation Redundancy in a Closed Link Manipulator." In Advances in Robot Kinematics. Springer Vienna, 1991. http://dx.doi.org/10.1007/978-3-7091-4433-6_47.

Full text

APA, Harvard, Vancouver, ISO, and other styles

4

Pazderski, Dariusz, Krzysztof R. Kozłowski, and Bartłomiej Krysiak. "Nonsmooth Stabilizer for Three Link Nonholonomic Manipulator Using Polar-like Coordinate Representation." In Robot Motion and Control 2009. Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-985-5_4.

Full text

APA, Harvard, Vancouver, ISO, and other styles

5

di Castri, Carmelo, and Arcangelo Messina. "Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator." In ROMANSY 18 Robot Design, Dynamics and Control. Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_11.

Full text

APA, Harvard, Vancouver, ISO, and other styles

6

Pazderski, Dariusz, Bartłomiej Krysiak, and Krzysztof R. Kozłowski. "A Comparison Study of Discontinuous Control Algorithms for a Three-Link Nonholonomic Manipulator." In Robot Motion and Control 2011. Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-2343-9_32.

Full text

APA, Harvard, Vancouver, ISO, and other styles

7

Nandy, Gourab, Basukinath Chatterjee, and Amartya Mukherjee. "Dynamic Analysis of Two-Link Robot Manipulator for Control Design." In Advances in Communication, Devices and Networking. Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-10-7901-6_83.

Full text

APA, Harvard, Vancouver, ISO, and other styles

8

Abdelhamid, Bounemeur, Chemachema Mouhamed, and Essounbouli Najib. "Indirect Robust Adaptive Fuzzy Control of Uncertain Two Link Robot Manipulator." In Lecture Notes in Electrical Engineering. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-48929-2_10.

Full text

APA, Harvard, Vancouver, ISO, and other styles

9

Konishi, Y., T. Naganuma, T. Aoyama, and I. Inasaki. "Dynamics of the Five-Bar-Link Parallel Direct-Drive Robot Manipulator." In Proceedings of the Twenty-Sixth International Machine Tool Design and Research Conference. Macmillan Education UK, 1986. http://dx.doi.org/10.1007/978-1-349-08114-1_18.

Full text

APA, Harvard, Vancouver, ISO, and other styles

10

Lochan, Kshetrimayum, Jay Prakash Singh, Binoy Krishna Roy, and Bidyadhar Subudhi. "Hidden Chaotic Path Planning and Control of a Two-Link Flexible Robot Manipulator." In Nonlinear Dynamical Systems with Self-Excited and Hidden Attractors. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-71243-7_19.

Full text

APA, Harvard, Vancouver, ISO, and other styles

Conference papers on the topic "–link robot manipulator"

1

D, Mathew Raj, Karthikeyan B, Suveetha Dhanaselvam P, Gurunathan C, Nithish Kannan S, and Kavitha K. "PID Controller Optimization for a Three-Link Robot Manipulator Using RGA." In 2024 International Conference on Integration of Emerging Technologies for the Digital World (ICIETDW). IEEE, 2024. https://doi.org/10.1109/icietdw61607.2024.10940004.

Full text

APA, Harvard, Vancouver, ISO, and other styles

2

Poignant, Alexis, Nathanaël Jarrassé, and Guillaume Morel. "Hands-Free Teleoperation of a Nearby Manipulator Through a Virtual Body-to-Robot Link." In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2024. http://dx.doi.org/10.1109/biorob60516.2024.10719920.

Full text

APA, Harvard, Vancouver, ISO, and other styles

3

Kumar, Shreyas, Bishesha Dash, Roshni Maiti, and Dipayan Guha. "Adaptive Fuzzy Predictor Based Fast Terminal Sliding Mode Controller Design for Two-Link Robot Manipulator." In 2024 Tenth Indian Control Conference (ICC). IEEE, 2024. https://doi.org/10.1109/icc64753.2024.10883745.

Full text

APA, Harvard, Vancouver, ISO, and other styles

4

Shukla, Deepak, and Frank W. Paul. "Motion Kinematics of Series-Parallel Robots Using a Virtual Link Concept." In ASME 1992 Design Technical Conferences. American Society of Mechanical Engineers, 1992. http://dx.doi.org/10.1115/detc1992-0197.

Full text

Abstract:

Abstract This paper presents a generic and systematic approach to solve the kinematics of series-parallel (hybrid) robot manipulators. The virtual link concept is a theoretical development to solve the kinematics of hybrid robots using the Denavit-Hartenberg notations. These notations have so far been applicable only to series robots. The virtual link concept employs fictitious serial links, termed “virtual links”, to transform a series-parallel manipulator into an equivalent series manipulator. The kinematics of this transformed series manipulator is solved using Denavit-Hartenberg notations. The results are mapped back to the actual manipulator using kinematic relations between fictitious serial links and the replaced parallel structure of the actual manipulator. This approach appears to be generic and systematic for analyzing the kinematics of series-parallel robot manipulators.

APA, Harvard, Vancouver, ISO, and other styles

5

Zhang, J., and J. Rastegar. "Micro-Macro or Link-Integrated Micro-Actuator Manipulation: A Kinematics and Dynamics Perspective." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84706.

Full text

Abstract:

Smart (active) material based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of the robot manipulators and reduce actuator dynamic response requirements. Low harmonic joint and end-effector motions as well as low actuator dynamic response requirements are essential for a robot manipulator to be capable of operating at high speeds with greater precision and with less vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro and macro robot manipulation. Alternatively, micro-actuators may be integrated into the links to vary a link parameter such as the link length. In this paper, the kinematics and dynamics consequences of each alternative are studies for manipulators with serial and closed-loop chains. It is shown that for the robot manipulator constructed with closed-loop chains, the high harmonic components of all joint motions can be eliminated only when micro-actuators are integrated into the structure of the closed-loop chain links. The latter configuration is also shown to have dynamics advantage over micro and macro configuration. thereby reducing the potential vibration and control problems at higher operating speeds. The conclusions also apply to closed-loop chains of parallel and cooperating robot manipulators.

APA, Harvard, Vancouver, ISO, and other styles

6

Yu, Yue-Qing, and Ji-Yun Yang. "Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84160.

Full text

Abstract:

The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.

APA, Harvard, Vancouver, ISO, and other styles

7

Tu, Q., and J. Rastegar. "Optimal Geometric Design of Robot Manipulator Link Shapes." In ASME 1995 Design Engineering Technical Conferences collocated with the ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium. American Society of Mechanical Engineers, 1995. http://dx.doi.org/10.1115/detc1995-0082.

Full text

Abstract:

Abstract In a recent article, Rastegar and Tu (1993), the authors presented a method for determining allowable link shapes for robot manipulators once their preferred operational environment is specified. The operational environment may include the preferred size and geometry of the end-effector task space(s), the obstacle and the installation spaces, and the enclosure within which the robot is to operate. In this method, by defining weighted (preferred) distributions for the task and/or obstacle spaces and for the enclosure geometry, weighted allowable manipulator link shapes are determined. In the present study, the developed method is extended to address the problem of optimal geometric design of robot manipulator link shapes. The developed methods are very simple, numeric in nature, readily implemented on computer, and can be classified as being based on the Monte Carlo method. The extension of the present method to the solution of optimal geometric shape synthesis for task and obstacle spaces is discussed. Numerical examples are presented.

APA, Harvard, Vancouver, ISO, and other styles

8

Johnson, Andrew, and Xianwen Kong. "Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12586.

Full text

Abstract:

Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator’s performance indices such as the mechanism’s workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including the well known DELTA robot by utilising the three-dimensional CAD software SolidWorks to produce a virtual prototype of a manipulator with an embedded virtual chain. The virtual chain represents the motion pattern of a manipulator’s end-effector and is very useful in the production of a graphical representation of the workspace of the manipulator. Using this approach, the link interferences and transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

APA, Harvard, Vancouver, ISO, and other styles

9

Li, Chang-Jin, T. S. Sankar, and A. Hemami. "Linearized Dynamic Models for Robot Manipulators With Varying Link Parameters." In ASME 1991 Design Technical Conferences. American Society of Mechanical Engineers, 1991. http://dx.doi.org/10.1115/detc1991-0216.

Full text

Abstract:

Abstract In this paper, two fast computational algorithms are developed for effective formulation for the linearized dynamic robot models with varying (kinematic and dynamic) link parameters. The proposed algorithms can generate complete linearized (inverse) dynamic models for robot manipulators, taking variations (e.g., inexactness, inconstancy, or uncertainty) of the kinematic and dynamic link parameters into account. They can be applied to any robot manipulator with rotational and/or translational joints, and can be utilized, also, for sensivitity analysis of similar mechanical systems. The computational complexity of these algorithms is only of order O(n), where n is the number of degrees-of-freedom of the robot manipulator.

APA, Harvard, Vancouver, ISO, and other styles

10

Kirsch, Karl, Michael Kean, and Raymond J. Cipra. "Experimental Optimization of a Discrete Robot Exhibiting Hysteresis." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71302.

Full text

Abstract:

Discrete joint manipulators are a potential alternative to common continuous joint robots used in industry today. Applications of a discrete joint manipulator include proximity positioning tasks, space exploration, camera placement, and automation systems. Discrete robots are potentially useful for small scale robots because it is difficult to implement sensors and motors at small scales. This work discusses the results obtained with an experimental 7 link robot designed for an 8 × 12 inch grid. Results show that a discrete robot can successfully be used for proximity positioning tasks. The performance depends on the location of discrete points relative to the desired points and also on the repeatability of the experimental manipulator. Results obtained via a vision system demonstrate the potential capabilities of the planar discrete manipulator. Results include subsets of end-effector positions in the gridspace and training results.

APA, Harvard, Vancouver, ISO, and other styles

Reports on the topic "–link robot manipulator"

1

Shani, Uri, Lynn Dudley, Alon Ben-Gal, Menachem Moshelion, and Yajun Wu. Root Conductance, Root-soil Interface Water Potential, Water and Ion Channel Function, and Tissue Expression Profile as Affected by Environmental Conditions. United States Department of Agriculture, 2007. http://dx.doi.org/10.32747/2007.7592119.bard.

Full text

Abstract:

Constraints on water resources and the environment necessitate more efficient use of water. The key to efficient management is an understanding of the physical and physiological processes occurring in the soil-root hydraulic continuum.While both soil and plant leaf water potentials are well understood, modeled and measured, the root-soil interface where actual uptake processes occur has not been sufficiently studied. The water potential at the root-soil interface (yᵣₒₒₜ), determined by environmental conditions and by soil and plant hydraulic properties, serves as a boundary value in soil and plant uptake equations. In this work, we propose to 1) refine and implement a method for measuring yᵣₒₒₜ; 2) measure yᵣₒₒₜ, water uptake and root hydraulic conductivity for wild type tomato and Arabidopsis under varied q, K⁺, Na⁺ and Cl⁻ levels in the root zone; 3) verify the role of MIPs and ion channels response to q, K⁺ and Na⁺ levels in Arabidopsis and tomato; 4) study the relationships between yᵣₒₒₜ and root hydraulic conductivity for various crops representing important botanical and agricultural species, under conditions of varying soil types, water contents and salinity; and 5) integrate the above to water uptake term(s) to be implemented in models. We have made significant progress toward establishing the efficacy of the emittensiometer and on the molecular biology studies. We have added an additional method for measuring ψᵣₒₒₜ. High-frequency water application through the water source while the plant emerges and becomes established encourages roots to develop towards and into the water source itself. The yᵣₒₒₜ and yₛₒᵢₗ values reflected wetting and drying processes in the rhizosphere and in the bulk soil. Thus, yᵣₒₒₜ can be manipulated by changing irrigation level and frequency. An important and surprising finding resulting from the current research is the obtained yᵣₒₒₜ value. The yᵣₒₒₜ measured using the three different methods: emittensiometer, micro-tensiometer and MRI imaging in both sunflower, tomato and corn plants fell in the same range and were higher by one to three orders of magnitude from the values of -600 to -15,000 cm suggested in the literature. We have added additional information on the regulation of aquaporins and transporters at the transcript and protein levels, particularly under stress. Our preliminary results show that overexpression of one aquaporin gene in tomato dramatically increases its transpiration level (unpublished results). Based on this information, we started screening mutants for other aquaporin genes. During the feasibility testing year, we identified homozygous mutants for eight aquaporin genes, including six mutants for five of the PIP2 genes. Including the homozygous mutants directly available at the ABRC seed stock center, we now have mutants for 11 of the 19 aquaporin genes of interest. Currently, we are screening mutants for other aquaporin genes and ion transporter genes. Understanding plant water uptake under stress is essential for the further advancement of molecular plant stress tolerance work as well as for efficient use of water in agriculture. Virtually all of Israel’s agriculture and about 40% of US agriculture is made possible by irrigation. Both countries face increasing risk of water shortages as urban requirements grow. Both countries will have to find methods of protecting the soil resource while conserving water resources—goals that appear to be in direct conflict. The climate-plant-soil-water system is nonlinear with many feedback mechanisms. Conceptual plant uptake and growth models and mechanism-based computer-simulation models will be valuable tools in developing irrigation regimes and methods that maximize the efficiency of agricultural water. This proposal will contribute to the development of these models by providing critical information on water extraction by the plant that will result in improved predictions of both water requirements and crop yields. Plant water use and plant response to environmental conditions cannot possibly be understood by using the tools and language of a single scientific discipline. This proposal links the disciplines of soil physics and soil physical chemistry with plant physiology and molecular biology in order to correctly treat and understand the soil-plant interface in terms of integrated comprehension. Results from the project will contribute to a mechanistic understanding of the SPAC and will inspire continued multidisciplinary research.

APA, Harvard, Vancouver, ISO, and other styles

2

Harman, Gary E., and Ilan Chet. Enhancement of plant disease resistance and productivity through use of root symbiotic fungi. United States Department of Agriculture, 2008. http://dx.doi.org/10.32747/2008.7695588.bard.

Full text

Abstract:

The objectives of the project were to (a) compare effects ofT22 and T-203 on growth promotion and induced resistance of maize inbred line Mol7; (b) follow induced resistance of pathogenesis-related proteins through changes in gene expression with a root and foliar pathogen in the presence or absence of T22 or T-203 and (c) to follow changes in the proteome of Mol? over time in roots and leaves in the presence or absence of T22 or T-203. The research built changes in our concepts regarding the effects of Trichoderma on plants; we hypothesized that there would be major changes in the physiology of plants and these would be reflected in changes in the plant proteome as a consequence of root infection by Trichoderma spp. Further, Trichoderma spp. differ in their effects on plants and these changes are largely a consequence of the production of different elicitors of elicitor mixtures that are produced in the zone of communication that is established by root infection by Trichoderma spp. In this work, we demonstrated that both T22 and T-203 increase growth and induce resistance to pathogens in maize. In Israel, it was shown that a hydrophobin is critical for root colonization by Trichoderma strains, and that peptaibols and an expansin-like protein from Ttrichoderma probably act as elicitors of induced resistance in plants. Further, this fungus induces the jasmonate/ethylene pathway of disease resistance and a specific cucumber MAPK is required for transduction of the resistance signal. This is the first such gene known to be induced by fungal systems. In the USA, extensive proteomic analyses of maize demonstrated a number of proteins are differentially regulated by T. harzianum strain T22. The pattern of up-regulation strongly supports the contention that this fungus induces increases in plant disease resistance, respiratory rates and photosynthesis. These are all very consistent with the observations of effects of the fungus on plants in the greenhouse and field. In addition, the chitinolytic complex of maize was examined. The numbers of maize genes encoding these enzymes was increased about 3-fold and their locations on maize chromosomes determined by sequence identification in specific BAC libraries on the web. One of the chitinolytic enzymes was determined to be a heterodimer between a specific exochitinase and different endochitinases dependent upon tissue differences (shoot or root) and the presence or absence of T. harzianum. These heterodimers, which were discovered in this work, are very strongly antifungal, especially the one from shoots in the presence of the biocontrol fungus. Finally, RNA was isolated from plants at Cornell and sent to Israel for transcriptome assessment using Affymetrix chips (the chips became available for maize at the end of the project). The data was sent back to Cornell for bioinformatic analyses and found, in large sense, to be consistent with the proteomic data. The final assessment of this data is just now possible since the full annotation of the sequences in the maize Affy chips is just now available. This work is already being used to discover more effective strains of Trichoderma. It also is expected to elucidate how we may be able to manipulate and breed plants for greater disease resistance, enhanced growth and yield and similar goals. This will be possible since the changes in gene and protein expression that lead to better plant performance can be elucidated by following changes induced by Trichoderma strains. The work was in, some parts, collaborative but in others, most specifically transcriptome analyses, fully synergistic.

APA, Harvard, Vancouver, ISO, and other styles

We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!