Relevant bibliographies by topics / Link robots

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Link robots'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Link robots"

1

Zhou, Yu. "On the planar stability of rigid-link binary walking robots." Robotica 21, no. 6 (October 24, 2003): 667–75. http://dx.doi.org/10.1017/s0263574703005162.

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A binary walking robot moves as a result of bi-state actuator transitions. Because of the bi-state nature of binary joints, many research results about continuous walking robots cannot be applied to binary walking robots directly. In this paper, a new and simple model of rigid-link binary walking robot is proposed, around which related concepts are introduced, and formulas are derived. Based on this model, general characteristics and limitations of periodic gaits are discussed, and the stability qualities of several straight-line walking periodic gaits are studied in both pitch-greater-than-stroke and stroke-greater-than-pitch cases. Valuable results are obtained from the analysis, which should be followed in the design of rigid-link binary walking robots.
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Lohse, Manja, Marc Hanheide, Karola Pitsch, Katharina J. Rohlfing, and Gerhard Sagerer. "Improving HRI design by applying Systemic Interaction Analysis (SInA)." Interaction Studies 10, no. 3 (December 10, 2009): 298–323. http://dx.doi.org/10.1075/is.10.3.03loh.

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Social robots are designed to interact with humans. That is why they need interaction models that take social behaviors into account. These usually influence many of a robot’s abilities simultaneously. Hence, when designing robots that users will want to interact with, all components need to be tested in the system context, with real users and real tasks in real interactions. This requires methods that link the analysis of the robot’s internal computations within and between components (system level) with the interplay between robot and user (interaction level). This article presents Systemic Interaction Analysis (SInA) as an integrated method to (a) derive prototypical courses of interaction based on system and interaction level, (b) identify deviations from these, (c) infer the causes of deviations by analyzing the system’s operational sequences, and (d) improve the robot iteratively by adjusting models and implementations. Keywords: analysis tools, user studies, autonomous robots
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Lin, Yueh-Jaw, and Aiping Yu. "Linear robust trajectory control of flexible joint manipulators." Robotica 14, no. 4 (July 1996): 375–80. http://dx.doi.org/10.1017/s0263574700019767.

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SUMMARYThis paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen in light of the on-line position and velocity feedback of the links and joint sensors. Through a simulated experimental verification, it is demonstrated that the designed simple position and velocity feedback controller, similar to that used for rigid-jointed robots, can globally stabilize the elastic-jointed robot for a bounded reference position. In addition, the tracking performance of the controller reveals that this simple control algorithm is robust in terms of joint flexibility. And the simplicity of the presented control algorithm, as compared to other model-based techniques for flexiblejoint robots, is particularly advantageous. Even though the simulated experiments are conducted on a single-link flexible joint robot, control law derived in this paper has general meaning for multi-link flexible joint robots.
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Kosaki, Takahiro, Yoshihiro Morinaga, and Manabu Sano. "Prototype Development of a Parallel-Link Robot Actuated by Pneumatic Linear Drives with Variable Inclination Mechanisms." International Journal of Automation Technology 8, no. 2 (March 5, 2014): 169–76. http://dx.doi.org/10.20965/ijat.2014.p0169.

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Parallel-link robots are generally high in power and precision because of their parallel arrangement of actuators. However, they have a workspace smaller than that of serial-link robots. In this paper, we develop a parallel-link robot prototype with pneumatic linear drives in which a mechanism for varying the actuator inclination is incorporated to enlarge the workspace. Our parallel-link robot realizes the rotational and translational motions of the end effector principally by means of the linear reciprocating motions of pneumatic linear drives mounted on the base. Auxiliary pneumatic actuators are used to adjust the inclination angles of those main pneumatic linear drives. The use of pneumatic actuators to realize the proposed parallel-link robot results in a lightweight, compact, and low-cost construction. The workspace and motion transmissibility of our parallel-link robot are analyzed through simulations based on kinematics; then, experimental investigations are carried out using the prototype.
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Lee, Ho-Hoon. "New Dynamic Modeling of Flexible-Link Robots." Journal of Dynamic Systems, Measurement, and Control 127, no. 2 (December 12, 2003): 307–9. http://dx.doi.org/10.1115/1.1902843.

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This paper shows that the conventional Lagrangian modeling of flexible-link robots does not fully incorporate the bending mechanism of flexible links. The conventional link deflection model allows free link elongation in addition to link deflection; the link elongation increases as link deflection increases. The link elongation, however, causes certain degrees of modeling inaccuracy in association with the rotational motion of the links. Therefore, this paper proposes a new link deflection model, compatible with the bending mechanism of flexible links. Then a new nonlinear dynamic model is derived based on the new link deflection model, fixing the modeling inaccuracy of the conventional dynamic model.
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Nakakuki, Kazuo, Kazuo Yamafuji, and Osamu Shikata. "Motion Control of a Robot Composed of Three Serial Links with Curved Contour (Ist Report; Concept and Dynamic Control of the Robot)." Journal of Robotics and Mechatronics 4, no. 6 (December 20, 1992): 497–504. http://dx.doi.org/10.20965/jrm.1992.p0497.

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The authors developed several kinds of robots having a smaller number of actuators than links. Motion controls of these robots were successfully accomplished using dynamic interference forces. For example, a swing and mobile robot was developed consisting of pivoted double-link arms and a single motor. This robot is capable of shifting itself from one horizontal bar to another by utilizing vibrational excitation. In this study, we elaborated a robot composed of three serial links with a curved contour and made it perform several dynamic motions. The outer contour of each link has a large curvature, and the links are connected serially. The two outer links of the robot have the same configuration which is different from that of the central link. Two DC servomotors are installed in the two outer links. These links can move freely around the connection joints, and constitute a part of a large arc having a certain angle which is controlled by the motions of the outer links. This robot can induce large vibration on all links by swinging the two outer links while lying on the floor, and can eventually bring itself up to a standing position. On the other hand, the robot can lie down from a standing posture without sustaining a shock on impact. The robot can perform movements like those of young children on the floor. In this paper, we mainly report on the concept of the robot, the simulation procedure and experimental results for the standing-up action.
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Qian, Zhen Jie, and Ding Guo Zhang. "Impact Dynamics of Multi-Link Robots with Link and Joint Flexibility." Applied Mechanics and Materials 226-228 (November 2012): 685–92. http://dx.doi.org/10.4028/www.scientific.net/amm.226-228.685.

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The dynamic analysis of a flexible-link-joint robot colliding with its environments is presented in this paper. Kinematics of both rotary-joint motion and link deformation is described by 4×4 homogenous transformation matrices. Both the stretching deformation, bending deformation and the torsional deformation of the flexible links are considered. Furthermore, the flexibility and the mass of the joint are considered too. The concept of impact force potential energy is introduced, so that the generalized forces due to the impact force can be computed easily. The Lagrange dynamic equations are used to establish the complete mathematic model of the system with impact. Dynamics simulation of a spatial flexible-link-joint manipulator arm is given as an example to validate the algorithm presented in this paper. And the numerical results indicate that the flexibility of the link and joint have distinguished influence on the impact dynamics of the flexible robots.
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Duong Xuan, Bien. "Dynamics and control analysis of a single flexible link robot with translational joints." Science & Technology Development Journal - Engineering and Technology 3, no. 4 (December 27, 2020): first. http://dx.doi.org/10.32508/stdjet.v3i4.801.

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Modern design always aims at reducing mass, simplifying the structure, and reducing the energy consumption of the system especially in robotics. These targets could lead to lowing cost of the material and increasing the operating capacity. The priority direction in robot design is optimal structures with longer lengths of the links, smaller and thinner links, more economical still warranting ability to work. However, all of these structures such as flexible robots are reducing rigidity and motion accuracy because of the effect of elastic deformations. Therefore, taking the effects of elastic factor into consideration is absolutely necessary for kinematic, dynamic modeling, analyzing, and controlling flexible robots. Because of the complexity of modeling and controlling flexible robots, the single-link and two-link flexible robots with only rotational joints are mainly mentioned and studied by most researchers. It is easy to realize that combining the different types of joints of flexible robots can extend their applications, flexibility, and types of structure. However, the models consisting of rotational and translational joints will make the kinematic, dynamic modeling, and control becomes more complex than models that have only rotational joints. This study focuses on the dynamics model and optimal controller based on genetic algorithms (GA) for a single flexible link robot (FLR) with a rigid translational joint. The motion equations of the FLR are built based on the Finite Element Method (FEM) and Lagrange Equations (LE). The difference between flexible manipulators that have only rotational joints and others with the translational joint is presented through boundary conditions. A PID controller is designed with parameters that are optimized by the GA algorithm. The cost function is established based on errors signal of translational joint, elastic displacements of the End-Point (EP) of the FLR. Simulation results show that the errors of the joint variable, the elastic displacements (ED) are destructed in a short time when the system is controlled following the reference point. The results of this study can be basic to research other flexible robots with more joint or combine joint styles.
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Ha, Sehoon, Stelian Coros, Alexander Alspach, Joohyung Kim, and Katsu Yamane. "Computational co-optimization of design parameters and motion trajectories for robotic systems." International Journal of Robotics Research 37, no. 13-14 (June 5, 2018): 1521–36. http://dx.doi.org/10.1177/0278364918771172.

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We present a novel computational approach to optimizing the morphological design of robots. Our framework takes as input a parameterized robot design as well as a motion plan consisting of trajectories for end-effectors and, optionally, for its body. The algorithm optimizes the design parameters including link lengths and actuator placements whereas concurrently adjusting motion parameters such as joint trajectories, actuator inputs, and contact forces. Our key insight is that the complex relationship between design and motion parameters can be established via sensitivity analysis if the robot’s movements are modeled as spatiotemporal solutions to an optimal control problem. This relationship between form and function allows us to automatically optimize the robot design based on specifications expressed as a function of actuator forces or trajectories. We evaluate our model by computationally optimizing four simulated robots that employ linear actuators, four-bar linkages, or rotary servos. We further validate our framework by optimizing the design of two small quadruped robots and testing their performances using hardware implementations.
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Oooka, Yasuhito, Haruhisa Kawasaki, and Nobuhito Takemura. "An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments." Journal of Robotics and Mechatronics 10, no. 2 (April 20, 1998): 147–53. http://dx.doi.org/10.20965/jrm.1998.p0147.

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This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.
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Dissertations / Theses on the topic "Link robots"

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Dentler, Donald Richard II. "Design, Control, and Implementation of a Three Link Articulated Robot Arm." University of Akron / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=akron1217208877.

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Lee, Soo Han. "Robust control of a flexible link robot and rigid link robot: theory, simulation, and experiment." Diss., Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16042.

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Rieber, Jochen M. "L₂-gain based control of a flexible parameter-varying robot link." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/20918.

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Sun, Qiao. "Dynamics analysis of flexible-link cooperating manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21951.pdf.

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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.

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Chen, Zhongkai. "Optimized Walking of an 8-link 3D Bipedal Robot." Thesis, Paris, ENSAM, 2015. http://www.theses.fr/2015ENAM0027/document.

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D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler et optimiser les allures de marche des robots bipèdes à la fois en 2D et 3D en considérant les fréquences propres du robot et par ajout de ressorts. L'étude porte essentiellement sur un robot bipède 2D à 5 corps et des pieds ponctuels ainsi qu'un robot bipède 3D à 8 corps avec des pieds sans masse à contact linéique. La commande en boucle fermée considérée est basée sur la méthode des contraintes virtuelles et la linéarisation par retour d'état. Suite à des études précédentes, la stabilité du robot bipède 2D est vérifiée par une section de Poincaré unidimensionnelle et étendue au robot bipède 3D à contact linéique avec le sol. L'optimisation est effectuée en utilisant la programmation quadratique séquentielle. Les paramètres optimisés incluent des coefficients de polynômes de Bézier et des paramètres posturaux. Des contraintes d'optimisation sont imposées pour assurer la validité de l'allure de marche. Pour le robot bipède 2D, deux configurations différentes de ressorts placés aux hanches sont étudiées. Ces deux configurations ont permis de réduire le coût énergétique. Pour le robot bipède 3D, les paramètres d'optimisation sont séparés en deux parties : ceux décrivant le mouvement dans le plan sagittal et ceux du plan frontal. Les résultats de l'optimisation montrent que ces deux types de paramètres doivent être optimisés. Ensuite, des ressorts sont ajoutés respectivement par rapport au plan sagittal, par rapport au plan frontal puis dans les deux plans. Les résultats montrent que l'ajout des ressorts dans le plan sagittal permet de réduire significativement le coût énergétique et que l'association de ressorts dans le plan frontal améliore encore plus la consommation d'énergie
From an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further
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Lewis, Jeremy. "A steady state tip control strategy for long reach robots." Thesis, Middlesex University, 1996. http://eprints.mdx.ac.uk/13569/.

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The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone. A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined. Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position correction strategies where tracking errors of ± 0.6 mm are recorded.
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Girvin, Douglas Lynn. "Numerical analysis of right-half plane zeros for a single-link manipulator." Thesis, Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/16945.

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Kauppi, Ilkka. "Intermediate language for mobile robots : a link between the high-level planner and low-level services in robots /." Espoo [Finland] : VTT Technical Research Centre of Finland, 2003. http://www.vtt.fi/inf/pdf/publications/2003/P510.pdf.

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Vidlák, Marek. "Článkové roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232193.

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Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.
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Books on the topic "Link robots"

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

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

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Kauppi, Ilkka. Intermediate language for mobile robots: A link between the high-level planner and low-level services in robots. Espoo [Finland]: VTT Technical Research Centre of Finland, 2003.

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Ruoff, Wolfgang. Optische Sensorsysteme zur On-line-Führung von Industrierobotern. Berlin: Springer-Verlag, 1989.

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Dirndorfer, Albin. Robotersysteme zur förderbandsynchronen Montage. Berlin: Springer-Verlag, 1993.

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Liu, Hong. Fang ren duo zhi ling qiao shou ji qi cao zuo kong zhi. Beijing: Ke xue chu ban she, 2010.

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Assembly with robots. London: Kogan Page, 1985.

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Owen, A. E. Assembly with robots. Englewood Cliffs, N.J: Prentice-Hall, 1985.

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Owen, Tony. Robots out of wonderland: How to use robots in the age of CIM. Cranfield: Cranfield, 1987.

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Trunzer, Wilhelm. Strategien zur On-Line Bahnplanung bei Robotern mit 3D-Konturfolgesensoren. Berlin: Springer-Verlag, 1996.

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Book chapters on the topic "Link robots"

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Rigatos, Gerasimos, and Krishna Busawon. "Flexible-Link Robots." In Studies in Systems, Decision and Control, 271–300. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-77851-8_5.

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Zhu, Wen-Hong. "Control of Flexible Link Robots." In Springer Tracts in Advanced Robotics, 337–64. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-10724-5_13.

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Luo, Zhongdi, Yi-Jen Chiang, Jyh-Ming Lien, and Chee Yap. "Resolution-Exact Algorithms for Link Robots." In Springer Tracts in Advanced Robotics, 353–70. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-16595-0_21.

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Gascoigne, J. D., R. H. Weston, and C. M. Sumpter. "Local Area Network Link for Robots." In Advances in Manufacturing Technology, 246–54. Boston, MA: Springer US, 1986. http://dx.doi.org/10.1007/978-1-4757-1355-8_33.

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Siddique, M. N. H., M. A. Hossain, and M. O. Tokhi. "BNN-based Fuzzy Logic Controller for Flexible-link Manipulator." In Climbing and Walking Robots, 575–82. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_69.

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Cui, Yi An, and En Ming Xiang. "Link Building on Demand in Multi-robots." In Advanced Electrical and Electronics Engineering, 1–8. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-19712-3_1.

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Poulsen, N. K., and O. Ravn. "Pay-Load Estimation of a 2 DOF Flexible Link Robot." In Climbing and Walking Robots, 591–98. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_71.

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Jatsun, S., O. Loktionova, and A. Malchikov. "Six-Link In-pipe Crawling Robot." In Advances on Theory and Practice of Robots and Manipulators, 341–48. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_38.

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Martín, José Antonio H., Javier Lope, and Matilde Santos. "Evolution of Neuro-controllers for Multi-link Robots." In Advances in Soft Computing, 175–82. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-74972-1_24.

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Ahmad, M. H., D. Kerr, and K. Bouazza-Marouf. "Fast Pointing and Tracking System for Mobile Robot Short Range Control via Free Space Optical Laser Line of Sight Communication Link." In Climbing and Walking Robots, 147–54. Berlin, Heidelberg: Springer Berlin Heidelberg, 2006. http://dx.doi.org/10.1007/3-540-26415-9_17.

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Conference papers on the topic "Link robots"

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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.

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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.
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Lin, E. Y., D. C. H. Yang, and S. Y. Cheng. "Primary Workspace of Simple Six-Link Robots." In ASME 1987 Design Technology Conferences. American Society of Mechanical Engineers, 1987. http://dx.doi.org/10.1115/detc1987-0066.

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Abstract This paper presents an analytical study on the primary workspace of some simple six-link robots. The approach is to divide the structure of a six-link robot into two subsystems, the regional structure and the wrist. Taking advantage of the kinematic simplicity of three-link subsystems, we at the same time are able to solve the problem of reassemblage of the subsystems by using the concept of vector fields at the connection. Two types of wrist, the Euler Angle wrist and the Roll-Pitch-Yaw wrist are considered. (For Roll-Pitch-Yaw wrist, only Cartesian and articulated regional structures are included). Criteria for these robots to access points from specific directions are firstly developed. The theorems regarding accessing points from all directions are then derived. Finally clean statements on the boundaries of primary workspace are made.
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She, Yu, Hai-Jun Su, and Carter J. Hurd. "Shape Optimization of 2D Compliant Links for Design of Inherently Safe Robots." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46622.

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In this paper, we represent a preliminary work towards the design of compliant mechanisms for human safe co-robots. We developed a shape optimization framework for design of planar compliant links for inherently safe robotic manipulators. It is well known intentionally introducing compliance to mechanical design can increase safety of robots. However traditional approaches such as elastic joints or uniform compliant links, were either at the cost of significantly reduced performance or with increased extra complexity and cost. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by Head Injury Criterion (HIC). The robotic links are modeled as a 2D beam with a variable width. Given a safety threshold i.e. HIC constraint, the width of the beam is optimized to give a uniform distribution of HIC along the longitudinal direction of the link. Links with a uniform HIC distribution have a better control performance. Finally, this solution is validated by an huamn-robot impact simulation program built in Matlab.
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Vidoni, Renato, Paolo Boscariol, Alessandro Gasparetto, and Marco Giovagnoni. "Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach." 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/detc2012-70939.

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The use of parallel kinematic structures allows to design light manipulators with higher dynamic performance with respect to serial robots. In this work, the issue of accurately modelling the dynamics of lightweight flexible-link parallel robots has been investigated. The Equivalent Rigid-Link System (ERLS) formulation, useful for describing the dynamic evolution of 3D serial robots with flexible-links, has been extended to Parallel-Kinematic-Machines (PKM) both from the theoretical and from the software implementation points of view. Standard robotics concepts of 3D kinematics are exploited to formulate and solve the ERLS kinematics, thus allowing to easily work with this formulation. A simulator, capable of predicting the deformations due to the elasticity of the links, has been developed and some industrial case-studies have been implemented to validate it. The formulation and the developed simulator will give the opportunity to extensively study the deformations of parallel manipulators, allow to predict the vibrations of the system, and, then, compensate them.
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Arai, T., R. Stoughton, K. Homma, H. Adachi, T. Nakamura, and K. Nakashima. "Development of a parallel link manipulator." In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. IEEE, 1991. http://dx.doi.org/10.1109/icar.1991.240570.

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Rhodes, Tyler, and Vishesh Vikas. "Compact Tensegrity Robots Capable of Locomotion Through Mass-Shifting." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98513.

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Abstract Robustness, compactness, and portability of tensegrity robots make them suitable candidates for locomotion on unknown terrains. Locomotion is achieved by breaking symmetry and altering the position of center-of-mass to induce “tip-over”. The design of curved links of tensegrity mechanisms allows continuous change in the point of contact (along the curve) as compared to discontinuities in the traditional straight links (point contact) which induces impulse reaction forces during locomotion. The illustrated curve-link tensegrity robot achieves smooth locomotion through internal mass-shifting. Additionally, this tensegrity robot displays folding and unfolding. Introduced is a design methodology for fabricating tensegrity robots of varying morphologies with modular components created using rapid prototyping techniques, including 3D printing and laser-cutting. The techniques are utilized to fabricate simple tensegrity structures, followed by locomotive tensegrity robots in icosahedron and half-circle arc morphologies.
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Stoianovici, D., and Y. Hurmuzlu. "Componentwise link identification of direct-drive robots." In Proceedings of 16th American CONTROL Conference. IEEE, 1997. http://dx.doi.org/10.1109/acc.1997.609671.

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Rajendran, Sunil Kumar, and Feitian Zhang. "Learning Based Speed Control of Soft Robotic Fish." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-8977.

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Bioinspired robotics takes advantage of biological systems in nature for morphology, action and perception to build advanced robots of compelling performance and wide application. This paper focuses on the design, modeling and control of a bioinspired robotic fish. The design utilizes a recently-developed artificial muscle named super coiled polymer for actuation and a soft material (silicone rubber) for building the robot body. The paper proposes a learning based speed control design approach for bioinspired robotic fish using model-free reinforcement learning. Based on a mathematically tractable dynamic model derived by approximating the robotic fish with a three-link robot, speed control simulation is conducted to demonstrate and validate the control design method. Exampled with a three-link reduced-order dynamic system, the proposed learning based control design approach is applicable to many and various complicated bioinspired robotic systems.
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Sabelhaus, Andrew P., Hao Ji, Patrick Hylton, Yakshu Madaan, ChanWoo Yang, Alice M. Agogino, Jeffrey Friesen, and Vytas SunSpiral. "Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47583.

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The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.
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Boscariol, P., A. Gasparetto, M. Giovagnoni, A. K. Moosavi, and R. Vidoni. "Design and Implementation of a Simulator for 3D Flexible-Link Serial Robots." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82168.

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In this paper, an effective method in dynamic modeling of spatial flexible-link robots under large displacements and small deformations is discussed and a generic Matlab™ software simulator based on it is presented and validated. The adopted method is based on an Equivalent Rigid Link System (ERLS) that enables to decouple the kinematic equations of the ERLS from the compatibility equations of the displacements at the joints allowing an easy and recursive procedure to build the robot dynamic matrices. The simulator is suitable for dynamic modelling of generic 3D serial flexible-link robots. The Matlab™ software simulator is validated with respect to the Adams-Flex™ commercial software, which implements Floating Frame of Reference (FFR) formulation, one of the most used methods for dynamic modeling of multibody flexible-link mechanisms with large displacements and small deformations.
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Reports on the topic "Link robots"

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Ladkany, Samaan G. The Dynamic Response of a Flexible Three-Link Robot Using Strain Gages and Lagrange Polynomials. Fort Belvoir, VA: Defense Technical Information Center, January 1991. http://dx.doi.org/10.21236/ada245250.

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Pelletier, G., and K. Sandlund. RObust Header Compression (ROHC): A Link-Layer Assisted Profile for IP/UDP/RTP. RFC Editor, January 2006. http://dx.doi.org/10.17487/rfc4362.

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Pelletier, G. RObust Header Compression (ROHC): A Link-Layer Assisted Profile for IP/UDP/RTP. RFC Editor, April 2002. http://dx.doi.org/10.17487/rfc3242.

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Jansen, J. F. Control and analysis of a single-link flexible beam with experimental verification. Robotics Technology Development Program. Office of Scientific and Technical Information (OSTI), December 1992. http://dx.doi.org/10.2172/10110160.

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Liu, Z., and K. Le. Zero-byte Support for Bidirectional Reliable Mode (R-mode) in Extended Link-Layer Assisted RObust Header Compression (ROHC) Profile. RFC Editor, December 2002. http://dx.doi.org/10.17487/rfc3408.

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Channarayapatna, Shashidhar S. [The Waste Package Project. Final report, July 1, 1995--February 27, 1996]: Volume 2, Experimental verification of structural response of a flexible three-link hydraulic steel robot. Office of Scientific and Technical Information (OSTI), January 1996. http://dx.doi.org/10.2172/254965.

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Walsh, Alex. The Contentious Politics of Tunisia’s Natural Resource Management and the Prospects of the Renewable Energy Transition. Institute of Development Studies (IDS), February 2021. http://dx.doi.org/10.19088/k4d.2021.048.

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For many decades in Tunisia, there has been a robust link between natural resource management and contentious national and local politics. These disputes manifest in the form of protests, sit-ins, the disruption of production and distribution and legal suits on the one hand, and corporate and government response using coercive and concessionary measures on the other. Residents of resource-rich areas and their allies protest the inequitable distribution of their local natural wealth and the degradation of their health, land, water, soil and air. They contest a dynamic that tends to bring greater benefit to Tunisia’s coastal metropolitan areas. Natural resource exploitation is also a source of livelihoods and the contentious politics around them have, at times, led to somewhat more equitable relationships. The most important actors in these contentious politics include citizens, activists, local NGOs, local and national government, international commercial interests, international NGOs and multilateral organisations. These politics fit into wider and very longstanding patterns of wealth distribution in Tunisia and were part of the popular alienation that drove the uprising of 2011. In many ways, the dynamic of the contentious politics is fundamentally unchanged since prior to the uprising and protests have taken place within the same month of writing of this paper. Looking onto this scene, commentators use the frame of margins versus centre (‘marginalization’), and also apply the lens of labour versus capital. If this latter lens is applied, not only is there continuity from prior to 2011, there is continuity with the colonial era when natural resource extraction was first industrialised and internationalised. In these ways, the management of Tunisia’s natural wealth is a significant part of the country’s serious political and economic challenges, making it a major factor in the street politics unfolding at the time of writing.
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