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Dissertations / Theses on the topic 'Manipulators (Mechanism) Robots Robots'

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Published: 4 June 2021

Last updated: 13 February 2022

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1

Ng, Kam-seng. "Multiagent joint control for multi-jointed redundant manipulators." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/hkuto/record/B32046595.

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2

Lloyd, John 1958. "Implementation of a robot control development environment." Thesis, McGill University, 1985. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65343.

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3

Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.

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4

Liu, Guanfeng. "Synthesis of dextrous manipulation by multifingered robotic hands /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LIU.

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5

Grosser, Karen Erica. "Input shaping for telerobotic manipulators." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21428.

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6

Tsai, Ming-June. "Workspace geometric characterization and manipulability of industrial robots." Connect to resource, 1986. http://rave.ohiolink.edu/etdc/view.cgi?acc%5Fnum=osu1260297835.

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7

Maliotis, Gregorios N. "Adaptive control of partially known robotic manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15871.

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8

Cheung, Wing-fung Jacob. "Kinematics, dynamics and control of high precision parallel manipulators." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B37907116.

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9

Ward, Keith Ronald. "Pseudo joint damping for reactive control of a mobile manipulator." Thesis, Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17634.

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10

Thong, Woon Kong. "The calibration of a robotic workstation /." Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65344.

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11

Smith, David Rowland. "Design of solvable 6R manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/18861.

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12

Ng, Kam-seng, and 黃錦城. "Multiagent joint control for multi-jointed redundant manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B32046595.

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13

Cheung, Wing-fung Jacob, and 張穎鋒. "Kinematics, dynamics and control of high precision parallel manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B37907116.

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14

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.

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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.

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15

Kendricks, Kimberly. "Solving the inverse kinematic robotics problem a comparison study of the Denavit-Hartenberg matrix and Groebner basis theory /." Auburn, Ala., 2007. http://repo.lib.auburn.edu/07M%20Dissertations/KENDRICKS_KIMBERLY_56.pdf.

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16

Marchand, Pauline Anne. "Simulation and adaptive control of a robot arm." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25118.

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The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dynamics and treats the wrist assembly as a load mass. Simulated test paths requiring movement of the outer two links indicate that the controller adapts and that its behaviour is stable and convergent.<br>Applied Science, Faculty of<br>Mechanical Engineering, Department of<br>Graduate

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17

Dawson, Darren. "Uncertainties in the control of robot manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15737.

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18

Calkins, Joseph M. "Real-time compensation of static deflections in robotic manipulators." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-12052009-020254/.

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19

Huckaby, Jacob O. "Knowledge transfer in robot manipulation tasks." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51902.

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Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible and intuitive to most users, is still a difficult task. There remain a number of unmet needs. For example, many existing solutions today are proprietary, which makes widespread adoption of a single solution difficult to achieve. Also, most approaches are highly targeted to a specific implementation. But it is not clear that these approaches will generalize to a wider range of problems and applications. To address these issues, we define the Interaction Space, or the space created by the interaction between robots and humans. This space is used to classify relevant existing work, and to conceptualize these unmet needs. GTax, a knowledge transfer framework, is presented as a solution that is able to span the Interaction Space. The framework is based on SysML, a standard used in many different systems, which provides a formalized representation and verification. Through this work, we demonstrate that by generalizing across the Interaction Space, we can simplify robot programming and enable knowledge transfer between processes, systems and application domains.

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20

Lew, Jae Young. "Control of bracing micro/macro manipulators." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/15867.

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21

Gu, Lifang. "Visual guidance of robot motion." University of Western Australia. Dept. of Computer Science, 1996. http://theses.library.uwa.edu.au/adt-WU2003.0004.

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Future robots are expected to cooperate with humans in daily activities. Efficient cooperation requires new techniques for transferring human skills to robots. This thesis presents an approach on how a robot can extract and replicate a motion by observing how a human instructor conducts it. In this way, the robot can be taught without any explicit instructions and the human instructor does not need any expertise in robot programming. A system has been implemented which consists of two main parts. The first part is data acquisition and motion extraction. Vision is the most important sensor with which a human can interact with the surrounding world. Therefore two cameras are used to capture the image sequences of a moving rigid object. In order to compress the incoming images from the cameras and extract 3D motion information of the rigid object, feature detection and tracking are applied to the images. Corners are chosen as the main features because they are more stable under perspective projection and during motion. A reliable corner detector is implemented and a new corner tracking algorithm is proposed based on smooth motion constraints. With both spatial and temporal constraints, 3D trajectories of a set of points on the object can be obtained and the 3D motion parameters of the object can be reliably calculated by the algorithm proposed in this thesis. Once the 3D motion parameters are available through the vision system, the robot should be programmed to replicate this motion. Since we are interested in smooth motion and the similarity between two motions, the task of the second part of our system is therefore to extract motion characteristics and to transfer these to the robot. It can be proven that the characteristics of a parametric cubic B-spline curve are completely determined by its control points, which can be obtained by the least-squares fitting method, given some data points on the curve. Therefore a parametric cubic B–spline curve is fitted to the motion data and its control points are calculated. Given the robot configuration the obtained control points can be scaled, translated, and rotated so that a motion trajectory can be generated for the robot to replicate the given motion in its own workspace with the required smoothness and similarity, although the absolute motion trajectories of the robot and the instructor can be different. All the above modules have been integrated and results of an experiment with the whole system show that the approach proposed in this thesis can extract motion characteristics and transfer these to a robot. A robot arm has successfully replicated a human arm movement with similar shape characteristics by our approach. In conclusion, such a system collects human skills and intelligence through vision and transfers them to the robot. Therefore, a robot with such a system can interact with its environment and learn by observation.

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22

Huat, Tan Hwee. "Discrete trajectory planners for robotic arms." Title page, table of contents and summary only, 1988. http://web4.library.adelaide.edu.au/theses/09PH/09pht1611.pdf.

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23

Yi, Yong. "Fault tolerant N-DOF Gough-Stewart platforms kinematics, dynamics, and design /." Laramie, Wyo. : University of Wyoming, 2005. http://proquest.umi.com/pqdweb?did=888857891&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.

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24

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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25

Kwon, Dong-Soo. "An inverse dynamic tracking control for bracing a flexible manipulator." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/15876.

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26

Lee, Jeh Won. "Dynamic analysis and control of light weight manipulators with flexible parallel link mechanisms." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15989.

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27

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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28

譚漢雄 and Hon-hung Tam. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1998. http://hub.hku.hk/bib/B31219925.

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29

Tam, Hon-hung. "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures /." Hong Kong : University of Hong Kong, 1998. http://sunzi.lib.hku.hk/hkuto/record.jsp?B19712704.

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30

Cocca, Christopher David. "Failure recovery in redundant serial manipulators /." Digital version accessible at:, 2000. http://wwwlib.umi.com/cr/utexas/main.

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31

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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32

Cannon, David Wayne. "Command generation and inertial damping control of flexible macro-micro manipulators." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/18212.

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33

Yuen, Ka Ming. "Control of robotic fixtureless assembly." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0004/NQ42891.pdf.

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34

Loper, Jeffrey Cameron. "Vibration cancellation an disturbance rejection in serially linked micro/macro manipulators." Thesis, Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/15873.

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35

Obergfell, Klaus. "End-point position sensing and control of flexible multi-link manipulators." Diss., Georgia Institute of Technology, 1998. http://hdl.handle.net/1853/18198.

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36

Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.

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付記する学位プログラム名: デザイン学大学院連携プログラム<br>Kyoto University (京都大学)<br>0048<br>新制・課程博士<br>博士(工学)<br>甲第21759号<br>工博第4576号<br>新制||工||1713(附属図書館)<br>京都大学大学院工学研究科機械理工学専攻<br>(主査)教授松野文俊, 教授椹木哲夫, 教授小森雅晴<br>学位規則第4条第1項該当

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37

Boucher, Daniel Charles. "Closed loop end piece control of a servo controlled manipulator." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25054.

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This thesis discusses the possibility of attaining closed loop end piece control of a servo controlled manipulator by externally modifying the independent control loop set point of each robot link. This procedure leaves the existing servo control loops intact and thus has the benefit of acquiring the advantages of an advanced control strategy while retaining the inherent reliability and stability of the existing control loops. Algorithms are proposed for compensating for known disturbance torques, eliminating end piece position errors, and applying specified forces to the surroundings with the end piece. These algorithms are demonstrated for the three degree of freedom case using a simulation package ROBSIM.FOR which simulates the response of a servo controlled manipulator to set point inputs. To compensate for known disturbance torques the torques generated by the robot control system are assumed to be directly proportional to the changes in set points. These approximate relations are used to estimate the adjustment in set points necessary to generate the required additional joint torques. Simulation results show that this method is effective in compensating for gravity disturbance torques. The Jacobian relates changes in position of the end piece to changes in joint angles. Using the Jacobian combined with a weighting factor to prevent overshoot an algorithm is developed which drives end piece position errors to zero. The transpose of the Jacobian is used to relate forces exerted on the surroundings by the end piece to generated joint torques. The required torques are created by adjusting the set points. Simulation results indicate that this method can be used to exert specified forces. Force control is more difficult to achieve than position control because the robot interacts physically with its surroundings. The ability of the robot to exert forces depends strongly on the robot's configuration. All work in this thesis can be generated using the single program ROBSIM.FOR.<br>Applied Science, Faculty of<br>Mechanical Engineering, Department of<br>Graduate

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38

Han, Kyung Min. "Collision free path planning algorithms for robot navigation problem." Diss., Columbia, Mo. : University of Missouri-Columbia, 2007. http://hdl.handle.net/10355/5021.

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Thesis (M.S.)--University of Missouri-Columbia, 2007.<br>The entire dissertation/thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file (which also appears in the research.pdf); a non-technical general description, or public abstract, appears in the public.pdf file. Title from title screen of research.pdf file (viewed on September 29, 2008) Includes bibliographical references.

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39

Graf, Daryl H. (Daryl Herbert) Carleton University Dissertation Computer Science. "A neural controller for collision-free movement of robot manipulators." Ottawa, 1988.

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40

Neppalli, Srinivas. "Design, construction, inverse kinematics, and visualization of continuum robots." Master's thesis, Mississippi State : Mississippi State University, 2008. http://library.msstate.edu/etd/show.asp?etd=etd-10312008-144310.

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41

Tumeh, Zuheir Shafik. "Real time coordinated control of two robot arms in six dimensions." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/13910.

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42

Gore, Kiron Pralhad. "Design, fabrication and testing of a special purpose end effector for the task of bin-picking." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/16954.

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43

Lin, Nanlin. "A neural-network approach to high-performance adaptive control for robot manipulators /." Hong Kong : University of Hong Kong, 1998. http://sunzi.lib.hku.hk/hkuto/record.jsp?B19852265.

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44

Sosseh, Raye Abdoulie. "Finite element torque modeling and backstepping control of a spherical motor." Diss., Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17695.

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45

Chang, Wei-Chieh. "Transputer-based robot controller /." Online version of thesis, 1990. http://hdl.handle.net/1850/11557.

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46

Teoh, Pek Loo. "A study of single laser interferometry-based sensing and measuring technique in robot manipulator control and guidance. Volume 1." Monash University, Dept. of Mechanical Engineering, 2003. http://arrow.monash.edu.au/hdl/1959.1/9565.

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47

Chen, Tiffany L. "Haptic interaction between naive participants and mobile manipulators in the context of healthcare." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51770.

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Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and caregivers, which is fraught with both psychological and physical implications. In this thesis, we used a human factors approach to evaluate system performance and participant responses when potential end users performed a healthcare task involving physical contact with a robot. We performed four human-robot interaction studies with 100 people who were not experts in robotics (naive participants). We show that physical contact between naive participants and human-scale mobile manipulators can be acceptable and effective in a variety of healthcare contexts. In this thesis, we investigated two forms of touch-based (haptic) interaction relevant to healthcare. First, we studied how participants responded to physical contact initiated by an autonomous robotic nurse. On average, people responded favorably to robot-initiated touch when the robot indicated that it was a necessary part of a healthcare task. However, their responses strongly depended on what they thought the robot's intentions were, which suggests that this will be an important consideration for future healthcare robots. Second, we investigated the coordination of whole-body motion between human-scale robots and people by the application of forces to the robot's hands and arms. Nurses found this haptic interaction to be intuitive and preferred it over a standard gamepad interface. They also navigated the robot through a cluttered healthcare environment in less time, with fewer collisions, and with less cognitive load via haptic interaction. Through a study with expert dancers, we demonstrated the feasibility of robots as dance-based exercise partners. The experts rated a robot that used only haptic interaction to be a good follower according to subjective measures of dance quality. We also determined that healthy older adults were accepting of using a robot for partner dance-based exercise. On average, they found the robot easy and enjoyable to use and that it performed a partnered stepping task well. The findings in this work make several impacts on the design of robots in healthcare. We found that the perceived intent of robot-initiated touch significantly influenced people's responses. Thus, we determined that autonomous robots that initiate touch with patients can be acceptable in some contexts. This result highlights the importance of considering the psychological responses of users when designing physical human-robot interactions in addition to considering the mechanics of performing tasks. We found that naive users across three user groups could quickly learn how to effectively use physical interaction to lead a robot during navigation, positioning, and partnered stepping tasks. These consistent results underscore the value of using physical interaction to enable users of varying backgrounds to lead a robot during whole-body motion coordination across different healthcare contexts.

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48

Moon, Suk-Min. "Active damping control of a compliant base manipulator." Ohio : Ohio University, 1999. http://www.ohiolink.edu/etd/view.cgi?ohiou1175797025.

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49

Voglewede, Philip Anthony. "Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation." Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5202.

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At a platform singularity, a parallel manipulator loses constraint. Adding redundant actuation in an existing leg or new leg can eliminate these types of singularities. However, redundant manipulators have been designed with little attention to frame invariant techniques. In this dissertation, physically meaningful measures for closeness to singularities in non-redundant manipulators are developed. Two such frameworks are constructed. The first framework is a constrained optimization problem that unifies seemingly unrelated existing measures and facilitates development of new measures. The second is a clearance propagation technique based on workspace generation. These closeness measures are expanded to include redundancy and thus can be used as objective functions for designing redundant actuation. The constrained optimization framework is applied to a planar three degree of freedom redundant parallel manipulator to show feasibility of the technique.

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50

Shum, Heung-yeung. "Adaptive motion and force control of robot manipulators with uncertainties /." Hong Kong : [University of Hong Kong], 1990. http://sunzi.lib.hku.hk/hkuto/record.jsp?B12840403.

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