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Journal articles on the topic 'PUMA manipulator'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Chen, Jau-Liang, and J. Duffy. "An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators." Journal of Mechanical Design 112, no. 1 (1990): 23–29. http://dx.doi.org/10.1115/1.2912574.

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The use of two manipulators is more effective than a single manipulator for manipulatory tasks such as assembly of an object from large parts. This paper presents an analysis of the kinematic and geometric properties for rectilinear parallel operation of two spatial manipulators. Two basis types of manipulators, a TRS robot and a PUMA robot, working in cooperation are considered. The analysis is based on a study of the motion and workspace boundaries of the manipulators.

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2

Duleba, Ignacy, and Jerzy Z. Sasiadek. "Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators." Robotica 20, no. 4 (2002): 405–15. http://dx.doi.org/10.1017/s0263574702004095.

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This paper proposes a method for transversal passing through singularities of corank 1, both for nonredundant and redundant robotic manipulators. The method modifies the Jacobian matrix of manipulator's forward kinematics to retrieve its full rank at singularities. Natural candidates for the Jacobian matrix modification are derivatives of determinants of full size sub-matrices of the Jacobian matrix. The method is illustrated with examples, including a PUMA manipulator and 2-link and 3-link planar manipulators. Some restrictions on the applicability of the method for nonredundant manipulators

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3

Allgeuer, Helmut. "Control strategy for a redundant PUMA manipulator." Robotica 12, no. 4 (1994): 361–69. http://dx.doi.org/10.1017/s0263574700017380.

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SUMMARYIn this paper a control strategy for a redundant PUMA robot is presented. This robot is obtained from the conventional PUMA robot by addition of a joint parallel to the elbow joint. For redundancy resolution the following approach is chosen. From the position and pointing direction of the end effector of the PUMA robot the position and orientation of the fourth link of a 4R-manipulato? is calculated and the redundancy is resolved for this manipulator. This is done by adding an equation to the relationship between the joint angles and position and orientation of the fourth link. By this

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4

Red, W. E., and Hung-Viet Truong-Cao. "Configuration Maps for Robot Path Planning in Two Dimensions." Journal of Dynamic Systems, Measurement, and Control 107, no. 4 (1985): 292–98. http://dx.doi.org/10.1115/1.3140739.

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Graphically simulated “configuration maps” are used to plan manipulator paths in two-dimensions. Configuration maps represent a transformation of the Cartesian workspace into the manipulator joint coordinates, identifying both the free space and the space occupied by obstacles. Visual examination of the configuration map allows simulation users to plan collision-free paths by maneuvering the manipulators “point” along a series of path line segments which connect starting and final manipulator configurations. A PUMA 600 revolute manipulator experimentally verifies one such path planned through

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5

Konoplin, A. Yu, N. A. Krasavin, and D. V. Kopylov. "Method of formation of program control signals for multilink manipulators of uninhabited underwater vehicles." Podvodnye issledovaniia i robototehnika 51, no. 1 (2025): 63–74. https://doi.org/10.37102/1992-4429_2025_51_01_06.

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The paper proposes a new method of formation of program control signals for multilink manipulators of unmanned underwater vehicles, which ensures preservation of the required accuracy of technological manipulation operations performed by these vehicles in the mode of stabilized hovering near the objects of work. This is achieved by additional movements of the manipulator working tool and changing its orientation on the basis of information about real angular and linear displacements of the vehicle relative to its initial stabilization position. At the same time, the desired speed of the tool m

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6

Bowling, Alan P., and ChangHwan Kim. "Velocity Effects on Robotic Manipulator Dynamic Performance." Journal of Mechanical Design 128, no. 6 (2006): 1236–45. http://dx.doi.org/10.1115/1.2336255.

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This article explores the effect that velocities have on a nonredundant robotic manipulator’s ability to accelerate its end-effector, as well as to apply forces/moments to the environment at the end-effector. This work considers velocity forces, including Coriolis forces, and the reduction of actuator torque with rotor velocity described by the speed-torque curve, at a particular configuration of a manipulator. The focus here is on nonredundant manipulators with as many actuators as degrees-of-freedom. Analysis of the velocity forces is accomplished using optimization techniques, where the opt

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7

Greig, A. R., and S. P. Lovell. "Improvement of the Accuracy of a PUMA 560 Industrial Manipulator by Calibration." Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 210, no. 1 (1996): 55–67. http://dx.doi.org/10.1243/pime_proc_1996_210_086_02.

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Compared to their repeatability, the accuracy of industrial manipulators is disappointingly poor. To permit off-line programming of manipulators and interaction with their local surrounds a high positional accuracy is required; this is particularly true for operation under supervisory control. The accuracy of a manipulator can be improved by calibration of its link lengths and joint angle measurements. This paper presents the results of the calibration of a PUMA 560 industrial manipulator and discusses simplifications to the procedure and theory which improve the practicality of the method wit

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8

Filaretov, Vladimir, Alexander Zuev, Alexander Procenko, and Sergey Melman. "Fault Detection of Actuators of Robot Manipulator by Vision System." Applied Mechanics and Materials 865 (June 2017): 457–62. http://dx.doi.org/10.4028/www.scientific.net/amm.865.457.

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This paper considers synthesis method of fault detection system for actuators of robot manipulators based on using of signals fusion from stereo camera, angles sensors of joints and desired values of joint variables. The vision system is used for determining the position of three markers rigidly connected with working tool in the coordinate system associated with the manipulator. The advantage of proposed fault detection system is the simplicity of implementation and precision of detection of typical faults without knowledge about non-linear dynamic of robot and actuators. The results of mathe

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9

Leahy, M. B., L. M. Nugent, G. N. Saridis, and K. P. Valavanis. "Efficient PUMA manipulator jacobian calculation and inversion." Journal of Robotic Systems 4, no. 2 (1987): 185–97. http://dx.doi.org/10.1002/rob.4620040203.

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10

Shao, Kuo-Chiang, and Kuu-young Young. "Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis." Journal of Mechanical Design 116, no. 1 (1994): 36–43. http://dx.doi.org/10.1115/1.2919372.

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Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification stra

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11

Andrieiev, Yurii Mykhailovych, Oleksii Oleksandrovych Holovnia, and Hennadii Viktorovich Shabanov. "AUTOMATIC SELECTION OF A SPATIAL MANIPULATOR CONFIGURATION WITH SIX DEGREES OF FREEDOM BASED ON ENERGY CONSUMPTION FOR A GIVEN MOTION." Bulletin of the National Technical University "KhPI". Series: Mathematical modeling in engineering and technologies, no. 2(7) (January 30, 2025): 13–23. https://doi.org/10.20998/2222-0631.2024.02(7).02.

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The problem of automatically selecting the configuration of a robot manipulator from all possible configurations based on the evaluation of energy consumption during the operation process when performing a specific gripping movement is considered. Using the example of a welding manipulator with six degrees of freedom, formulas for the analytical computer solution of the inverse kinematics problem for a wide range of PUMA-type manipu- lators are presented. A distinctive feature of this algorithm is that each configuration of the manipulator links is defined by an individual value of one paramet

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12

Eun, T., and H. S. Cho. "On the Implementation of an Adaptive Hybrid Position/Force Control for Manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 201, no. 6 (1987): 403–12. http://dx.doi.org/10.1243/pime_proc_1987_201_143_02.

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Hybrid position/force control is an effective tool for carrying out a task whose geometry constrains the position of a manipulator. This paper presents a task-oriented architecture for hybrid control, taking into consideration the complexity of the manipulator dynamics and uncertainties in the external constraints. For this purpose an adaptive pole assignment self-tuning algorithm was adopted based upon six independent decoupled ARMA models which represent position and force dynamics of manipulators in the task-oriented coordinate frame. To complete the control architecture, a control input tr

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13

Zalzala, A. M. S., and A. S. Morris. "Structured Motion Planning in the Local Configuration Space." Robotica 9, no. 1 (1991): 81–92. http://dx.doi.org/10.1017/s0263574700015599.

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SUMMARYThe minimum-time motion of robot manipulators is solved by defining a suitable time history for the arm end-effector to traverse. As the planning is performed in the configuration space, the uniqueness of the proposed algorithm emerges from the combination of both cubic and quadratic polynomial splines. Furthermore, the highly efficient time optimisation procedure could be applied to local segments of each joint trajectory, leading to a significant reduction of the travelling time. In addition, the ability to perform a search in the work space is granted, exploiting all possible options

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14

Poveda Rodríguez, Diana Katheryn, Villamizar Mejía Rodolfo, and Jose Jorge Carreño Zagarra. "Nonlinear Identification of a PUMA Manipulator Arm MA2000." Applied Mechanics and Materials 704 (December 2014): 288–92. http://dx.doi.org/10.4028/www.scientific.net/amm.704.288.

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This article deals with the tuning of a simplified non-linear model that represents the dynamic behavior of the manipulator arm PUMA MA2000, where excitation signals formed by a finite sum of harmonics Fourier series were used in order to obtain arm dynamical responses. Initially, non-linear mathematical model is derived by using the Euler-Lagrange notation, and then a simplified nonlinear model is obtained and tuned by using the experimental angular position measurements for waist, shoulder and elbow robot joints.

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15

Yavin, Y., and C. Frangos. "Modelling and control of a Puma-like manipulator." Mathematical and Computer Modelling 35, no. 3-4 (2002): 375–83. http://dx.doi.org/10.1016/s0895-7177(01)00171-6.

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16

Küçük, Halûk, Gordon Parker, and Eric T. Baumgartner. "Robot positioning of flexible-link manipulator using vision." Robotica 22, no. 3 (2004): 301–7. http://dx.doi.org/10.1017/s0263574703005629.

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Vision-aided flexible link robot positoning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipulator with a flexible structure at the wrist which accounts for the gravitation. Trade-offs between camera view parameters and axial deflection model parameters were investigated. View parameter reestimatio

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17

Karger, A. "Singularity Analysis of Serial Robot-Manipulators." Journal of Mechanical Design 118, no. 4 (1996): 520–25. http://dx.doi.org/10.1115/1.2826922.

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This paper is devoted to the description of the set of all singular configurations of serial robot-manipulators. For 6 degrees of freedom serial robot-manipulators we have developed a theory which allows to describe higher order singularities. By using Lie algebra properties of the screw space we give an algorithm, which determines the degree of a singularity from the knowledge of the actual configuration of axes of the robot-manipulator only. The local shape of the singular set in a neighbourhood of a singular configuration can be determined as well. We also solve the problem of escapement fr

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18

Litvin, F. L., and V. Parenti Castelli. "Configurations of Robot’s Manipulators and Their Identification, and the Execution of Prescribed Trajectories. Part 1: Basic Concepts." Journal of Mechanisms, Transmissions, and Automation in Design 107, no. 2 (1985): 170–78. http://dx.doi.org/10.1115/1.3258706.

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The authors have proposed a new method for the determination of all potential configurations which may be formed by the manipulator links, the identification of these configurations, and execution of prescribed trajectories. The key to the solution of these problems is the determination of special link positions and the representation of the Jacobian for these positions as a product of sub-Jacobians. The special link positions are considered separately for the two cases when the special link positions occur: (a) by the execution of the prescribed trajectory and (b) by the execution of the traj

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19

Goldenberg, A. A., and D. L. Lawrence. "A Generalized Solution to the Inverse Kinematics of Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 107, no. 1 (1985): 103–6. http://dx.doi.org/10.1115/1.3140699.

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In the context of kinematic control of a robotic manipulator if a certain set of task space coordinates (end effector position and orientation) are commanded then the corresponding configuration space coordinates (joint variables) must be provided. The joint variables are obtained by solving the “inverse kinematics problem.” Typically a solution to the problem can be obtained in closed-form; however, such a solution is inherently manipulator-dependent. The paper presents an approach for providing a generalized inverse kinematics solution which is manipulator-independent. The solution is based

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20

Zalzala, A. M. S., and A. S. Morris. "A Distributed On-Line Trajectory Generator for Intelligent Sensory-Based Manipulators." Robotica 9, no. 2 (1991): 145–55. http://dx.doi.org/10.1017/s0263574700010183.

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SUMMARYAn algorithm is presented for the on-line generation of minimum-time trajectories for robot manipulators. The algorithm is designed for intelligent robots with advanced on-board sensory equipment which can provide the position and orientation of the end-effector. Planning is performed in the configuration (joint) space by the use of optimised combined polynomial splines, along with a search technique to identify the best minimum-time trajectory. The method proposed considers all physical and dynamical limitations inherent in the manipulator design, in addition to any geometric path cons

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21

Özbay, Ufuk, H. Türker Şahin, and Erkan Zergeroğlu. "Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria." Robotica 26, no. 6 (2008): 711–28. http://dx.doi.org/10.1017/s0263574708004293.

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SUMMARYIn this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (e.g., maintaining manipulability, avoidance of mechanical joint limits, and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. A Lyapunov based approach has been utilized in the controller design and extension to a non minimum set of parameters for orienta

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22

Sankaranarayanan, H. K., D. A. Streit, and H. Y. Kim. "Parametric Excitation of Robotic Manipulators." Journal of Mechanical Design 116, no. 2 (1994): 467–73. http://dx.doi.org/10.1115/1.2919402.

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The predominant compliance in the dynamic response of the PUMA 560 robot manipulator arises in joints 2 and 3. Considering compliance of these two joints, the effects of user controlled variables on system stability are studied using Floquet theory. Specifically, manipulator configuration, operating speed, and trajectory amplitude are considered. For some configurations, instabilities are expected for ranges of operating frequencies which are significantly removed from the neighborhood of multiples of resonant frequencies of the stationary system. Results demonstrate overall trends in stabilit

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23

Lin, Yueh-Jaw, and Hai-Yan Zhang. "Simplification of manipulator dynamic formulations utilizing a dimensionless method." Robotica 11, no. 2 (1993): 139–47. http://dx.doi.org/10.1017/s026357470001924x.

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SUMMARYThis paper presents a new approach for simplifying dynamic equations of motion of robot manipulators by using a nondimensionalization scheme. With this approach the dynamic analysis is done in a nondimensional space. That is, it is required to establish a dimensionless coordinate system in which the dynamic equations of motion of manipulators are formulated. The characteristic parameters of the manipulators are then defined by choosing proper physical quantities as basic units for nondimensionalization. Within the nondimensional space the Lagrange method is applied to the manipulator to

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24

Liang, Jinglun, Yisheng Rong, Guoliang Ye, Xiaoxiao Li, Jianwen Guo, and Zhenzhen He. "Acceleration Level Control of Redundant Manipulators with Physical Constraints Compliance and Disturbance Rejection under Complex Environment." Complexity 2020 (November 7, 2020): 1–14. http://dx.doi.org/10.1155/2020/8844209.

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Investigation of joint torque constraint compliance is of significance for robot manipulators especially working in complex environments. A lot of which is attributed to that, on the one hand, it is beneficial to the improvement of both safety and reliability of the mission execution. On the other hand, the energy consumption required by the robot to complete the desired mission can be reduced. Most existing schemes do not take the joint torque limit and other inherent physical structure limits in a manipulator into account at the same time. In addition, many unavoidable uncertainties such as

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25

Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." IAES International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73. http://dx.doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim

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26

Abdel-Salam, Abdel-Azim S., and Ibrahim N. Jleta. "Fuzzy logic controller design for PUMA 560 robot manipulator." International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 73–83. https://doi.org/10.11591/ijra.v9i2.pp73-83.

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The dynamic model of the robot manipulator contain from equations, these equations are nonlinear and contained from variations parameters due to variations in load, friction, and disturbance. The conventional computed torque (PD and PID) controllers are not highly suitable for nonlinear, complex, time-variant systems with delay. In this paper, the fuzzy logic controllers (FLC) has been used because it is efficient tools for control of nonlinear and uncertain parameters systems. This paper aims to design a fuzzy logic controller for position control of a PUMA 560 robot manipulator. Based on sim

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27

Pratap, D. "Kineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560." IOSR Journal of Mechanical and Civil Engineering 8, no. 3 (2013): 33–40. http://dx.doi.org/10.9790/1684-0833340.

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28

Chen, Zhitian, Weijian Wen, and Weijun Yang. "Adaptive Visual Control for Robotic Manipulators with Consideration of Rigid-Body Dynamics and Joint-Motor Dynamics." Mathematics 12, no. 15 (2024): 2413. http://dx.doi.org/10.3390/math12152413.

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A novel cascade visual control scheme is proposed to tailor for electrically driven robotic manipulators that operate under kinematic and dynamic uncertainties, utilizing an uncalibrated stationary camera. The proposed control approach incorporates adaptive weight radial basis function neural networks (RBFNNs) to learn the behaviors of the uncertain dynamics of the robot and the joint actuators. The controllers are designed to nullify the approximation error and mitigate unknown disturbances through an integrated robust adaptive mechanism. A major advantage of the proposed approach is that pri

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29

Gunyaz, Ablay. "A model-free continuous integral sliding mode controller for robust control of robotic manipulators." IAES International Journal of Robotics and Automation (IJRA) 12, no. 1 (2023): 54–67. https://doi.org/10.11591/ijra.v12i1.pp54-67.

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This paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulators. The d

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30

Surriani, Atikah, Oyas Wahyunggoro, and Adha Imam Cahyadi. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999. http://dx.doi.org/10.11591/ijai.v13.i3.pp2999-3009.

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<p>The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA ma

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31

Atikah, Surriani, Wahyunggoro Oyas, and Imam Cahyadi Adha. "Inverse kinematic solution and singularity avoidance using a deep deterministic policy gradient approach." IAES International Journal of Artificial Intelligence (IJ-AI) 13, no. 3 (2024): 2999–3009. https://doi.org/10.11591/ijai.v13.i3.pp2999-3009.

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The robotic arm emerges as a subject of paramount significance within the industrial landscape, particularly in addressing the complexities of its kinematics. A significant research challenge lies in resolving the inverse kinematics of multiple degree of freedom (M-DOF) robotic arms. The inverse kinematics of M-DOF robotic arms pose a challenging problem to resolve, thus it involves consideration of singularities which affect the arm robot movement. This study aims a novel approach utilizing deep reinforcement learning (DRL) to tackle the inverse kinematic problem of the 6-DOF PUMA manipulator

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32

Becerra, Victor M., Steven Cook, and Jiamei Deng. "PREDICTIVE COMPUTED-TORQUE CONTROL OF A PUMA 560 MANIPULATOR ROBOT." IFAC Proceedings Volumes 38, no. 1 (2005): 229–34. http://dx.doi.org/10.3182/20050703-6-cz-1902.01308.

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Medjebouri, Ali, and Lamine Mehennaoui. "Adaptive Neuro-Sliding Mode Control of PUMA 560 Robot Manipulator." Journal of Automation, Mobile Robotics & Intelligent Systems 10, no. 4 (2016): 8–16. http://dx.doi.org/10.14313/jamris_4-2016/27.

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Fang, Yuefa, and Lung-Wen Tsai. "Feasible Motion Solutions for Serial Manipulators at Singular Configurations." Journal of Mechanical Design 125, no. 1 (2003): 61–69. http://dx.doi.org/10.1115/1.1543976.

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When a serial manipulator is at a singular configuration, the Jacobian matrix will lose its full rank causing the manipulator to lose one or more degrees of freedom. This paper presents a novel approach to model the manipulator kinematics and solve for feasible motions of a manipulator at singular configurations such that the precise path tracking of a manipulator at such configurations is possible. The joint screw linear dependency is determined by using known line varieties so that not only the singular configurations of a manipulator can be identified but also the dependent joint screws can

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35

Ablay, Gunyaz. "A model-free continuous integral sliding mode controller for robust control of robotic manipulators." IAES International Journal of Robotics and Automation (IJRA) 12, no. 1 (2023): 54. http://dx.doi.org/10.11591/ijra.v12i1.pp54-67.

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<p>This paper proposes a model-free continuous integral sliding mode controller for robust control of robotic manipulators. The highly nonlinear dynamics of robots and load disturbances cause control challenges. To achieve tracking control under load disturbances and nonlinear parameter variations, the controller is constructed with three continuous terms including an integral term that acts as an adaptive controller. The proposed controller is able to accomplish a non-overshoot transient response, a short settling time, and strong disturbance rejection performance for robotic manipulato

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36

Kuo, C. Y., and W. Worger. "Discrete Time Model Reference Adaptive Control of an Industrial Manipulator’s Waist Joint." Journal of Dynamic Systems, Measurement, and Control 109, no. 3 (1987): 294–97. http://dx.doi.org/10.1115/1.3143858.

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The current control systems adopted by most industrial manipulators are “open loop” designs based only upon kinematic consideration. Their servo gains are fixed and there is no flexibility of updating them. It is desirable, therefore, to have a robot control system that adapts to its payload and manipulator configuration in order to maintain optimal dynamic performance throughout the robot workspace, and regardless of the payload. This paper implements and evaluates the discrete time model reference adaptive control (MRAC) algorithm of robot control proposed by Horowitz and Tomizuka to a PUMA

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Филаретов, В. Ф., А. Ю. Коноплин, А. В. Зуев, and Н. А. Красавин. "SYNTHESIS METHOD OF SYSTEMS FOR HIGH-PRECISION MOVEMENTS CONTROL OF UNDERWATER MANIPULATORS." Podvodnye issledovaniia i robototehnika, no. 4(34) (January 24, 2020): 31–37. http://dx.doi.org/10.37102/24094609.2020.34.4.004.

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Представлена разработка метода синтеза комбинированных систем, обеспечивающих высокоточное управление перемещениями рабочих органов многозвенных манипуляторов, установленных на подводных аппаратах. Предложенный метод позволяет точно идентифицировать негативные моментные воздействия на выходные валы электроприводов манипуляторов, возникающие при их перемещениях в вязкой среде, а также моменты сухого и вязкого трений в этих приводах. При использовании этого метода вначале с помощью рекуррентного алгоритма решения обратной задачи динамики выполняется предварительный аналитический расчет внешних м

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Dao, Son Duy, and Kazem Abhary. "Determination of the Significance of Tolerance Parameters on Robot Performance Using Taguchi’s Tolerance Design Experiment." Applied Mechanics and Materials 229-231 (November 2012): 2100–2105. http://dx.doi.org/10.4028/www.scientific.net/amm.229-231.2100.

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Tolerance parameters have different effects on robot accuracy. Therefore, it is better to tighten the tolerances of the factors that have statistically significant effect on robot accuracy and widen the tolerances of insignificant ones. By doing so, one not only achieves the given robot accuracy but also reduces manufacturing costs. Objective of this paper is to present an approach used to determine statistical significance of each tolerance parameter of robot manipulator on robot accuracy which can assist robot designers in making decisions regarding tolerance design. In this paper, a compreh

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Faiq Ahmad Khan, Muhammad Hamza Khan, Fizza Khan, Mubashir Bashir, and Khalil Ullah. "Fault detection and remote monitoring of robotic manipulator using Internet of Things (IoT)." NUML International Journal of Engineering and Computing 1, no. 1 (2022): 39–53. http://dx.doi.org/10.52015/nijec.v1i1.12.

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Remote monitoring of industrial machines is important in order to have high productivitycontinuous process control. New emerging technologies such as Internet of Things (IoT), arefacilitating the process of automation and remote controlling in multiple ways. In this researchwork, a robotic manipulator based on PUMA robot structure and an intelligent remotemaintenance system is developed aimed to ensure the continual accurate operation of a roboticmanipulator. Entire manipulator is designed from different types of motors like DC motors,stepper motors and servo motors along with their motor driv

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Lezhnina, Yuliya A., G. N. Ternovaya, and I. Yu Petrova. "Path Control for a Manipulator while Tracking a Given Trajectory." Applied Mechanics and Materials 752-753 (April 2015): 967–72. http://dx.doi.org/10.4028/www.scientific.net/amm.752-753.967.

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The paper propose to use robust control algorithm with disturbance compensation for management anthropomorphic robot PUMA type so as to ensure the movement of the robot manipulator along a predetermined path with a given accuracy. Necessary to generate a control signal for each degree of mobility without the use of velocities and accelerations of its relative coordinates measured output variables or other degrees of freedom. Thus, decentralized control is implemented to overcome the handling robot. For the formation of the control actions using the auxiliary circuit. This approach allows compe

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kumar, Ch Ravi, DV Pushpalatha, K. R. Sudha, and KA Gopala Rao. "Design of Lyapunov Based Fuzzy Logiccontroller for Puma-560 Robot Manipulator." International Journal of Fuzzy Logic Systems 4, no. 1 (2014): 1–12. http://dx.doi.org/10.5121/ijfls.2014.4101.

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Whitney, Daniel, and Jeff Shamma. "Comments on "An Exact Kinematic Model of the PUMA 600 Manipulator"." IEEE Transactions on Systems, Man, and Cybernetics 16, no. 1 (1986): 182–84. http://dx.doi.org/10.1109/tsmc.1986.289299.

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Pfeffer, L. E., O. Khatib, and J. Hake. "Joint torque sensory feedback in the control of a PUMA manipulator." IEEE Transactions on Robotics and Automation 5, no. 4 (1989): 418–25. http://dx.doi.org/10.1109/70.88056.

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Fan-Tien Cheng, Tzung-Liang Hour, York-Yin Sun, and Tsing-Hua Chen. "Study and resolution of singularities for a 6-DOF PUMA manipulator." IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 27, no. 2 (1997): 332–43. http://dx.doi.org/10.1109/3477.558842.

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Nahon, M., and J. Angeles. "Minimization of Power Losses in Cooperating Manipulators." Journal of Dynamic Systems, Measurement, and Control 114, no. 2 (1992): 213–19. http://dx.doi.org/10.1115/1.2896517.

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The control of multiple manipulators handling a common object entails the solution of an underdetermined system of linear equations which represents the system’s dynamics. In order to choose an optimal solution to this problem, various approaches have been proposed: minimum internal force and minimum power, among others. The present work investigates an approach for minimizing the power losses in these systems. It is shown that the power imparted to the manipulator/payload system cannot be optimized once the system’s motion is prescribed. However, assuming certain loss characteristics for the

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Tello Gamarra, Daniel Fernando, and Marco Antonio De Souza Leite Cuadros. "Forward Models for Following a Moving Target with the Puma 560 Robot Manipulator." Inteligencia Artificial 18, no. 56 (2015): 31. http://dx.doi.org/10.4114/intartif.vol18iss56pp31-42.

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This paper describes how a forward model could be applied in a manipulator robot to accomplish the task of following a moving target. The forward model has been implemented in the puma 560 robot manipulator in simulation after a babbling motor phase using ANFIS neural networks. The forward model delivers a rough estimation of the position in the operational space of a moving target. Using this information a Cartesian controller tracks the moving target. An implementation of the proposed architecture and the Piepmeir algorithm for the problem of following a moving target is also shown in the pa

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GIET, University. "A Neuro-fuzzy Adaptive Inference System for Puma 400 Robot Manipulator Control." Journal of Engineering Technology and Sciences 01, no. 04 (2024): 04–07. https://doi.org/10.5281/zenodo.14358855.

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The learning process is highly dependent upon the characteristics of torque control of the robot manipulator based on dynamic model, and such calculated torque control is very sensitive to modelling error and external disturbances. Generally, obtaining a representation of the Coriolis torque, centrifugal force, and gravity vector is an uncommon problem. A very plausible control system for our candidate is Fuzzy Logic Controller because it is able to express the desired system behavior with relatively simple "if-then" relations that the designer can come up with through

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Alkurawy, Lafta E. Jumaa. "Recursive least square and control for PUMA robotics." Indonesian Journal of Electrical Engineering and Computer Science 21, no. 2 (2021): 1238–46. https://doi.org/10.11591/ijeecs.v21.i2. pp1238-1246.

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The solution of inverse kinematics system based on recursive least square (RLS) theorem is improved this paper. The task in joints of robotics is inverse kinematics for PUMA robotics. The design the manipulator of robotics is not simple if due to model of algebraic method. I suggested a method of RLS method to get predicts the positions of robot and it is comfortable the applications in real-time. The RLS is used to find the solution of the inverse kinematics for the joints 6-dof of the robotics. This technique is important to compute the joints of each arm space with Cartesian axes in the end

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Akkar, Hanan, and Suhad Haddad. "Design Stable Controller for PUMA 560 Robot with PID and Sliding Mode Controller Based on PSO Algorithm." International Journal of Intelligent Engineering and Systems 13, no. 6 (2020): 487–99. http://dx.doi.org/10.22266/ijies2020.1231.43.

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The most significant challenge facing the researcher in the field of robotics is to control the robot manipulator with appropriate overall performance. This paper focuses mainly on the novel Intelligent Particle Swarm Optimization (PSO) algorithm that was used for optimizing and tuning the gain of conventional Proportional Integral Derivative (PID), and improve the parameters of dynamic design in Sliding Mode Control (SMC), which is considered a strong nonlinear controller for controlling highly nonlinear systems, particularly for multi-degree serial link robot manipulator. Additional modified

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Taha, Zahari, Abdelhakim Deboucha, and Azeddein Kinsheel. "Drilling Force Control for Robot Manipulator with Combined Rigid and Soft Surface." Applied Mechanics and Materials 303-306 (February 2013): 1741–47. http://dx.doi.org/10.4028/www.scientific.net/amm.303-306.1741.

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This paper presents an efficient force position control scheme for high precision drilling on soft surfaces using industrial robot. The control problem is divided into two parts; the gross motion control problem and the drilling control problem. In the gross motion stage the robot motion is controlled using computed torque technique. The drilling process is controlled using hybrid force position control that maintains the desired force and trajectory profiles. The soft surface is represented by single degree of freedom mass-spring-damper system. The performance of the system is tested using 6-

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