Relevant bibliographies by topics / Rigid robotic manipulators

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

Academic literature on the topic 'Rigid robotic manipulators'

Author: Grafiati
Published: 19 February 2023

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Journal articles on the topic "Rigid robotic manipulators"

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Lee, S. B., and H. S. Cho. "Dynamic Characteristics of Balanced Robotic Manipulators with Joint Flexibility." Robotica 10, no. 6 (November 1992): 485–95. http://dx.doi.org/10.1017/s0263574700005816.

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SUMMARYThe mass balancing of robotic manipulators has been shown to have favorable effects on the dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joint flexibilities. This paper investigates the effects of the joint flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller built-in inside motor control loop. The results show that, at low speed, the joint flexibility nearly does not influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joint deformation error.
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Lee, S. B., and H. S. Cho. "Dynamic characteristics of balanced robotic manipulators with joints flexibility." Robotica 10, no. 1 (January 1992): 25–34. http://dx.doi.org/10.1017/s0263574700007049.

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SummaryThe mass balancing of robotic manipulators has been shown to have favorable effects on their dynamic characteristics. In actual practice, however, since conventional manipulators have flexibility at their joints, the improved dynamic properties obtainable for rigid manipulators may be influenced by those joints flexibilities. This paper investigates the effects of the joints flexibility on the dynamic properties and the controlled performance of a balanced robotic manipulator. The natural frequency distribution and damping characteristics were investigated through frequency response analyses. To evaluate the dynamic performance a series of simulation studies of the open-loop dynamics were made for various trajectories, operating velocities, and joint stiffnesses. These simulations were also carried out for the balanced manipulator with a PD controller situated inside the motor control loop. The results show that, at low speed, the joints flexibility does but little influence the performance of the balanced manipulator, but at high speed it tends to render the balanced manipulator susceptible to vibratory motion and yields large joints deformation errors.
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Vemuri, Arun T., and Marios M. Polycarpou. "A methodology for fault diagnosis in robotic systems using neural networks." Robotica 22, no. 4 (August 2004): 419–38. http://dx.doi.org/10.1017/s0263574703005204.

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Fault diagnosis plays an important role in the operation of modern robotic systems. A number of researchers have proposed fault diagnosis architectures for robotic manipulators using the model-based analytical redundancy approach. One of the key issues in the design of such fault diagnosis schemes is the effect of modeling uncertainties on their performance. This paper investigates the problem of fault diagnosis in rigid-link robotic manipulators with modeling uncertainties. A learning architecture with sigmoidal neural networks is used to monitor the robotic system for off-nominal behavior due to faults. The robustness, sensitivity, missed detection and stability properties of the fault diagnosis scheme are rigorously established. Simulation examples are presented to illustrate the ability of the neural network based robust fault diagnosis scheme to detect and accommodate faults in a two-link robotic manipulator.
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Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (December 1, 1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model for use in future design and control applications of flexible manipulators.
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Man Zhihong and M. Palaniswami. "Robust tracking control for rigid robotic manipulators." IEEE Transactions on Automatic Control 39, no. 1 (1994): 154–59. http://dx.doi.org/10.1109/9.273355.

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Nurullayev, N. M., D. A. Turgunboyev, and Ye N. Zholdassov. "EVALUATION OF POSSIBILITIES TO IMPROVE RIGID BODIES." BULLETIN Series of Physics & Mathematical Sciences 69, no. 1 (March 10, 2020): 392–95. http://dx.doi.org/10.51889/2020-1.1728-7901.71.

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Manipulators are used for various purposes in order to simplify tasks or reduce the risk of tasks that are considered impossible, dangerous or difficult for humans. The robotic arm can be equipped with various types of end effectors to perform a variety of tasks. Grips are one of the most commonly used tools for manipulators. This article discusses the analysis of modeling new robotic gripping fingers, based on models of gripping gross rigid bodies of manipulators. A literature review was conducted in the relevant branches of scientific research. The ability to minimize dimensions and masses, as well as the final cost of the product, using available materials and electromechanical devices, various sensors, is evaluated. The external characteristics that make the previously developed analogues ineffective are analyzed. Modeling was released using the SolidWorks software package.
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Cetinkunt, Sabri, and B. Ittop. "Computer Automated Symbolic Modeling of Dynamics of Robotic Manipulators with Flexible Links." Robotica 10, no. 1 (January 1992): 19–24. http://dx.doi.org/10.1017/s0263574700007037.

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SummaryDynamic equations of chain structured robotic manipulators with compliant links and joints are developed in a non-recursive symbolic form. A program is developed in REDUCE to automate the symbolic expansion of these equations for any given chain structured manipulator. The symbolic non-recursive form of dynamic model is particularly suitable for controller synthesis and real-time control implementations. The link flexibility is included in the formulation using assumed mode shapes. The mode shapes and the parameters that are functions of the mode shapes are kept in symbolic form so that once a symbolic model is generated, different types of mode shapes can be studied using the same model. Because of the structural similarity between the developed equations and the well known rigid manipulator equations, the computer automated symbolic expansion capability presented here are likely to be utilized widely by many other researchers in the area who are already familiar with rigid manipulator problems.
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Al-Khulaidi, Rami, Rini Akmeliawati, Steven Grainger, and Tien-Fu Lu. "Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments." Sensors 22, no. 22 (November 9, 2022): 8632. http://dx.doi.org/10.3390/s22228632.

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Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and dimensions as those used in fully-structured industrial environments, which have been proven to experience low dexterity and singularity issues in challenging environments due to their structural limitations. When implemented in environments other than fully-structured industrial environments, conventional manipulators are liable to singularity, joint limits and workspace obstacles. This makes them inapplicable in confined semi-structured environments, as they lack the flexibility to operate dexterously in such challenging environments. In this paper, structural optimisation of a hyper-redundant cable-driven manipulator is proposed to improve its performance in semi-structured and challenging confined spaces, such as in agricultural settings. The optimisation of the manipulator design is performed in terms of its manipulability and kinematics. The lengths of the links and the joint angles are optimised to minimise any error between the actual and desired position/orientation of the end-effector in a confined semi-structured task space, as well as to provide optimal flexibility for the manipulators to generate different joint configurations for obstacle avoidance in confined environments. The results of the optimisation suggest that the use of a redundant manipulator with rigid short links can result in performance with higher dexterity in confined, semi-structured environments, such as agricultural greenhouses.
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Tosunoglu, Sabri, Shyng-Her Lin, and Delbert Tesar. "Accessibility and Controllability of Flexible Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 114, no. 1 (March 1, 1992): 50–58. http://dx.doi.org/10.1115/1.2896507.

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Although serial manipulator arms modeled with rigid links show full system controllability in the joint space, this condition does not necessarily hold for flexible robotic systems. In particular, in certain robot configurations, called inaccessible robot positions, one or more of the flexibilities may not be accessed directly by the actuators. This condition may significantly deteriorate system performance as reported earlier by the authors (Tosunoglu et al., 1988, 1989). The present study addresses the relationship between the accessibility and controllability concepts and establishes accessibility as a distinct concept from controllability. Although the theoretical framework is developed for general n-link, spatial manipulators modeled with m oscillation components, example case studies demonstrate the concepts on one- and two-link arms for brevity. Specifically, it is shown that although inaccessibility and uncontrollability may coincide in certain instances (as shown on a one-link arm), counter examples may be found where an arm in an inaccessible position can simultaneously demonstrate full system controllability (as shown on a two-link arm).
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Rugthum, Thummaros, and Gang Tao. "An adaptive actuator failure compensation scheme for a cooperative manipulator system." Robotica 34, no. 7 (October 7, 2014): 1529–52. http://dx.doi.org/10.1017/s0263574714002434.

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SUMMARYThis paper develops a new adaptive actuator failure compensation algorithm for the control of a cooperative robotic system subject to uncertain actuator failures. The benchmark robotic system has two manipulators to balance a rigid platform, and the right-side manipulator contains one actuator and the left-side manipulator has two actuators (one of which may fail during system operation, but it is uncertain how much, when and which actuator may fail). The developed adaptive actuator failure compensation scheme, based on adaptive integration of three individual failure compensators and direct adaptation of controller parameters, is capable of ensuring desired closed-loop stability and asymptotic output tracking, despite the failure uncertainties. Such an adaptive actuator failure compensation method is extended to control of a general cooperative robotic system. Simulation results are shown to verify the desired adaptive failure compensation control performance.
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Dissertations / Theses on the topic "Rigid robotic manipulators"

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Rao, Sanjay. "Some issues in the sliding mode control of rigid robotic manipulators." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 1995. https://ro.ecu.edu.au/theses/1183.

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This thesis investigates the problem of robust adaptive sliding mode control for nonlinear rigid robotic manipulators. A number of robustness and convergence results are presented for sliding mode control of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The highlights of the research work are summarized below : • A robust adaptive tracking control for rigid robotic manipulators is proposed. In this scheme, the parameters of the upper bound of system uncertainty are adaptively estimated. The controller estimates are then used as controller parameters to eliminate the effects of system uncertainty and guarantee asymptotic error convergence. • A decentralised adaptive sliding mode control scheme for rigid robotic manipulators is proposed. The known dynamics of the partially known robotic manipulator are separated out to perform linearization. A local feedback controller is then designed to stabilize each subsystem and an adaptive sliding mode compensator is used to handle the effects of uncertain system dynamics. The developed scheme guarantees that the effects of system dynamics are eliminated and that asymptotic error convergence is obtained with respect to the overall robotic control system. • A model reference adaptive control using the terminal sliding mode technique is proposed. A multivariable terminal sliding mode is defined for a model following control system for rigid robotic manipulators. A terminal sliding mode controller is then designed based on only a few uncertain system matrix bounds. The result is a simple and robust controller design that guarantees convergence of the output tracking error in a finite time on the terminal sliding mode.
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Ritter, Nicola. "Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 1996. https://ro.ecu.edu.au/theses/932.

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This thesis presents two new adaptive control laws that use the terminal sliding mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The law ensures finite time error convergence to the system origin and is simple to implement The second law treats the manipulator as a partially known system. The known dynamics are used to build a nominal control law and the effects of unknown system dynamics arc compensated for by use of a sliding mode compensator. The resulting control law is robust, asymptotically convergent, has finite time convergence to the sliding mode and allows for bounded external disturbances. It is easy to implement and requires no bounds on system parameters, adaptively adjusting only three bounds on system uncertainties. Both laws are extended to include a reduction of chattering by use of the boundary layer technique. They are tested via application to a two-link robot simulated using MatLab.
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Amin, Shamsudin Haji Mohd. "Modelling, simulation and adaptive control of rigid and flexible robot manipulators." Thesis, University of Sheffield, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333243.

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Yang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.

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Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that are possibly used with this method, and model bellows actuators including operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector. The robotic system introduced achieved errors of less than 5% when compared to the models, and positioning accuracies of better than 1cm.
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Roldán, Mckinley Javier Agustín. "Three-dimensional rigid body guidance using gear connections in a robotic manipulator with parallel consecutive axes." [Gainesville, Fla.] : University of Florida, 2007. http://purl.fcla.edu/fcla/etd/UFE0021383.

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(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.

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In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.

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An, Chae H., Christopher G. Atkeson, and John M. Hollerbach. "Estimation of Inertial Parameters of Rigid Body Links of Manipulators." 1986. http://hdl.handle.net/1721.1/5604.

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A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the Newton-Euler equations, and uses measurements of the joint torques as well as the measurement and calculation of the kinematics of the manipulator while it is moving. The identification equations are linear in the desired unknown parameters, and a modified least squares algorithm is used to obtain estimates of these parameters. Some of the parameters, however, are not identifiable due to restricted motion of proximal links and the lack of full force/torque sensing. The algorithm was implemented on the MIT Serial Link Direct Drive Arm. A good match was obtained between joint torques predicted from the estimated parameters and the joint torques computed from motor currents.
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Books on the topic "Rigid robotic manipulators"

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R, Clauss, and Institut für Mechanik (Akademie der Wissenschaften der DDR), eds. Dynamik-Simulation ausgewählter Klassen von Starrkörpersystemen mit Anwendungen in der Manipulator-/Robotertechnik: Algorithmen, Programme, Ergebnisse. Karl-Marx-Stadt: Akademie der Wissenschaften der DDR, Institut für Mechanik, 1986.

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J, Book Wayne, Paul Frank W, American Socviety of Mechanical Engineers. Winter Meeting, and American Society of Mechanical Engineers. Dynamic Systems and Control Division. Robotics Technical Panel., eds. Modelling and control of compliant and rigid motion systems: Presented at the Winter Annual Meeting of the American Society of Mechanical Engineers, Atlanta, Georgia, December 1-6, 1991. New York, N.Y: ASME, 1991.

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Book chapters on the topic "Rigid robotic manipulators"

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Hackl, Christoph M. "Joint Position Control of Rigid-Link Revolute-Joint Robotic Manipulators." In Non-identifier Based Adaptive Control in Mechatronics, 469–93. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-55036-7_13.

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Arteaga, Marco A., Alejandro Gutiérrez-Giles, and Javier Pliego-Jiménez. "Dynamics of Rigid Robot Manipulators." In Lecture Notes in Electrical Engineering, 71–102. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-85980-0_3.

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Balafoutis, C. A., and R. V. Patel. "Cartesian Tensors and Rigid Body Motion." In Dynamic Analysis of Robot Manipulators, 85–116. Boston, MA: Springer US, 1991. http://dx.doi.org/10.1007/978-1-4615-3952-0_4.

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Culha, Utku, Josie Hughes, Andre Rosendo, Fabio Giardina, and Fumiya Iida. "Design Principles for Soft-Rigid Hybrid Manipulators." In Soft Robotics: Trends, Applications and Challenges, 87–94. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46460-2_11.

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Mustafa, Mahmoud, Alejandro Ramirez-Serrano, Krispin A. Davies, and Graeme N. Wilson. "Modeling and Autonomous Control of Multiple Mobile Manipulators Handling Rigid Objects." In Intelligent Robotics and Applications, 397–406. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-33515-0_40.

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Rodriguez-Angeles, A., H. Nijmeijer, and H. A. Essen. "Coordination of Rigid and Flexible Joint Robot Manipulators." In Advanced Dynamics and Control of Structures and Machines, 195–215. Vienna: Springer Vienna, 2004. http://dx.doi.org/10.1007/978-3-7091-2774-2_11.

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Arteaga, Marco A., Alejandro Gutiérrez-Giles, and Javier Pliego-Jiménez. "Position, Orientation and Velocity of Rigid Robot Manipulators." In Lecture Notes in Electrical Engineering, 15–69. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-85980-0_2.

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Wittbrodt, E., and S. Wojciech. "An Application of the Rigid Finite Element Method to Modelling of Flexible Structures." In Theory and Practice of Robots and Manipulators, 73–78. Vienna: Springer Vienna, 1995. http://dx.doi.org/10.1007/978-3-7091-2698-1_8.

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Ferrara, Antonella, and Lorenza Magnani. "Sliding Mode Motion Control Strategies for Rigid Robot Manipulators." In Model-Based Reasoning in Science, Technology, and Medicine, 399–412. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-71986-1_23.

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Jalili-Kharaajoo, Mahdi. "Nonlinear H ∞ State Feedback Control of Rigid Robot Manipulators." In Artificial Intelligence: Methodology, Systems, and Applications, 469–79. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-540-30106-6_48.

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Conference papers on the topic "Rigid robotic manipulators"

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Mu, Xiuping, Qiong Wu, and Yanping Mu. "On Modeling and to Impact Dynamic Equations of Multi-Rigid-Link Robotics Having Simultaneous Collisions With Frictional Impulses." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-15186.

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Impact plays an important role in robotic manipulations. As robotic manipulators interact with their environment or objects, the motion of the system varies discontinuously and large impulsive forces are created at the surface of contact and are transmitted through the system, particularly when the motion of the manipulator is fast. With the demands for more precise and faster performance of robotic manipulators and minimizing potential damage of the system, being able to better simulate and control impact has become essential. In this paper, the impact dynamics describing simultaneous collisions of multi-link robotics with frictional impulses are investigated. The solutions for the after-impact velocities and impulses are provided in a closed form which can be easily employed for simulating robotic system contact states. The results are also important for the motion planning and impact control of robotic systems with contact tasks.
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Kövecses, J., R. G. Fenton, and W. L. Cleghorn. "An Approach for the Dynamics of Robotic Manipulators With Structural Flexibility of Links and Joints." In ASME 1997 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/detc97/vib-4217.

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Abstract In this paper, an approach is presented for the dynamic modeling and analysis of robotic manipulators having structural flexibility in the links and joints. The formulation allows the user to include different types of flexibilities, as required. This approach includes the dynamic effects of joint driving systems by considering the mass and moments of inertia of their elements, the rotor-link interactions, and the gear reduction ratios; all of which can have significant influences on the behavior of the manipulator. Both distributed-discrete and discretized-discrete parameter models of a robot can be analysed. In the discretized-discrete case, dynamic equations of motion are developed for four model types: rigid link - rigid joint, rigid link - flexible joint, flexible link - rigid joint, and flexible link - flexible joint. An example of a two-link manipulator is considered. Simulation results are presented for different models (flexible joint - rigid link, rigid joint - flexible link, flexible joint - flexible link) of the manipulator. The computations show the influence of joint and link flexibilities on the manipulator performance.
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Trivedi, Deepak, Dustin Dienno, and Christopher D. Rahn. "Optimal, Model-Based Design of Soft Robotic Manipulators." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35612.

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Soft robotic manipulators, unlike their rigid-linked counterparts, deform continuously along their lengths similar to elephant trunks and octopus arms. Their excellent dexterity enables them to navigate through unstructured and cluttered environments and handle fragile objects using whole arm manipulation. Soft robotic manipulator design involves the specification of air muscle actuators and the number, length and configuration of sections that maximize dexterity and load capacity for a given maximum actuation pressure. This paper uses nonlinear models of the actuators and arm structure to optimally design soft robotic manipulators. The manipulator model is based on Cosserat rod theory, accounts for large curvatures, extensions, and shear strains, and is coupled to nonlinear Mooney-Rivlin actuator model. Given a dexterity constraint for each section, a genetic algorithm-based optimizer maximizes the arm load capacity by varying the actuator and section dimensions. The method generates design rules that simplify the optimization process. These rules are then applied to the design of pneumatically and hydraulically actuated soft robotic manipulators, using 100 psi and 1000 psi maximum pressure, respectively.
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Dongya, Zhao, Cao Qianlei, Li Shurong, and Zhu Quanmin. "Adaptive full-order sliding mode control of rigid robotic manipulators." In 2015 34th Chinese Control Conference (CCC). IEEE, 2015. http://dx.doi.org/10.1109/chicc.2015.7259713.

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Baptista, Luis Filipe, and Jose M. G. Sa da Costa. "A force control approach of robotic manipulators in non-rigid environments." In 1999 European Control Conference (ECC). IEEE, 1999. http://dx.doi.org/10.23919/ecc.1999.7099747.

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Arezoo, Jamal, Keyvan Arezoo, Bahram Tarvirdizadeh, and Khalil Alipour. "Modeling and control of robotic manipulators with rigid and flexible cables." In 2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2021. http://dx.doi.org/10.1109/icrom54204.2021.9663506.

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Mäkinen, Petri, Oleg Dmitrochenko, and Jouni Mattila. "Floating Frame of Reference Formulation for a Flexible Manipulator With Hydraulic Actuation: Modelling and Experimental Validation." In BATH/ASME 2018 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/fpmc2018-8846.

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One of the current and future trends in robotics is to reduce the weight of a robotic manipulator by using lightweight materials, such as ultra-high-strength steel or composites. The reduction in weight results in material and fuel savings, which are highly relevant for heavy-duty, off-highway manipulators found in excavators, truck-mounted cranes, and forestry machines. Due to the highly demanding working conditions of such manipulators, hydraulic actuation is mainly used. Automated and accurate control of these manipulators is very challenging due to the nonlinearities present in the system. Recent studies indicate that nonlinear model-based control (NMBC) methods can provide the most advanced control performance in the case of hydraulic robotic manipulators. An accurate model capturing the dynamics of the physical system is required for effective NMBC design. The present study proposes a hybrid rigid-flexible model for a flexible manipulator combined with a hydraulic actuator, implemented with the help of the floating frame of reference formulation (FFRF). The designed model is validated by comparing simulations with experimental reference data obtained from an OptiTrack motion-capture system and other sensors. The comparative results demonstrate that the model is able to capture the system’s dynamics accurately, which motivates further research on developing NMBC methods using the FFRF.
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Diao, Xiumin, and Ou Ma. "Vibration Analysis of Cable-Driven Parallel Manipulators for Hardware-in-the-Loop Contact-Dynamics Simulation." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35093.

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Possible vibration of cable-driven parallel manipulators (called cable manipulators for short) is a concern for some special applications such as hardware-in-the-loop (HIL) contact-dynamics simulation of spacecraft or space robotic systems. A cable manipulator used in HIL simulation is required to be rigid enough to have a high bandwidth to respond its input. This paper provides a vibration analysis of a general 6-DOF cable manipulator. Under an excitation, a cable may deflect in both axial and lateral directions due to its inevitable flexibility. The vibrations of cable manipulators caused by cable flexibility in both axial and lateral directions are analyzed. The study demonstrated that the cable manipulator can provide sufficient rigidity for applications like HIL contact-dynamics simulation of a spacecraft or space robotic system. It is also shown that the vibration of a cable manipulator due to the lateral flexibility of cables can be ignored comparing to that due to the axial flexibility of cables.
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9

Fujie, Hiromichi, and Hitoshi Yagi. "Novel Robotic System for Joint Mechanical Tests Using Velocity-Impedance Control." In ASME 2011 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2011. http://dx.doi.org/10.1115/sbc2011-53884.

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The first study as regard with the application of robotic technology to the field of joint biomechaics was reported more than 20 years ago1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies1–4). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS)5). Referring to the robotic system, the present study was aimed to develop a novel robotic system of rigid body/structure that allows a high-rate displacement/force control of the knee using a velocity-impedance control.
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10

Hosek, Martin. "Observer-Corrector Control Strategy for Robotic Manipulators With Unmodeled Dynamics." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24626.

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Abstract A control strategy is presented which reduces destabilizing effects of unmodeled higher-order dynamics found in many systems subject to control. These effects are major limiting factors of conventional controllers, especially for high-performance machinery, such as precision machine tools and robotic manipulators. In the proposed strategy, a substitute feedback signal is synthesized in order to extract dominant dynamic components (e.g., rigid body motion of a flexible robotic manipulator) from the output of the controlled system. A unique arrangement of a band-limited state observer and a low-pass filter corrector is employed for this purpose. The synthetic signal is used as a controller input, effectively eliminating destabilizing effects of unmodeled dynamics of the controlled system. A simulation example demonstrates that the strategy results in improved control performance, increased stability margin, and added robustness against variations in system parameters in comparison to conventional methods adopted currently in engineering practice.
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