Relevant bibliographies by topics / Robot Arm- Modelling

Contents

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

Academic literature on the topic 'Robot Arm- Modelling'

Author: Grafiati
Published: 4 June 2021
Last updated: 6 September 2023

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Journal articles on the topic "Robot Arm- Modelling"

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Yu, Jun, Shuhui Bi, and Shengjun Wen. "Modelling and adaptive control of NAO robot arm." International Journal of Advanced Mechatronic Systems 9, no. 2 (2021): 102. http://dx.doi.org/10.1504/ijamechs.2021.116488.

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Wen, Shengjun, Shuhui Bi, and Jun Yu. "Modelling and adaptive control of NAO robot arm." International Journal of Advanced Mechatronic Systems 9, no. 2 (2021): 102. http://dx.doi.org/10.1504/ijamechs.2021.10039575.

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Liu, Hui Yuan, and Han Huang. "Design and Structural Analysis of Robot Arm for High Performance Packaging Robots." Applied Mechanics and Materials 741 (March 2015): 669–74. http://dx.doi.org/10.4028/www.scientific.net/amm.741.669.

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Current packaging robots cannot achieve the required speed due to the use of heavy parts. Magnesium alloys with appropriate surface treatment may be used to replace the traditional steel or aluminum parts and therefore to reduce robot arm weight. In this work, different prototype designs were made to examine the feasibility of the application of light alloys for robot arm, in comparison to conventional materials. Finite element modelling (FEM) studies were performed for structural analysis. The results demonstrated that magnesium alloys has advantages over steel or aluminum alloys in terms of
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Gołda, Grzegorz, and Adrian Kampa. "Modelling of Cutting Force and Robot Load during Machining." Advanced Materials Research 1036 (October 2014): 715–20. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.715.

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Industrial robots are used for many tasks, mainly for material handling, welding and cutting. Robots can be also equipped with other tools for example drill or mill cutter and used for machining. Compared to conventional machines, robots have some advantages, which are: large range, flexibility and speed. On the other hand the greater disadvantage is small stiffness of robotic arms. Also the precision of robot positioning is smaller than modern CNC machines. Nowadays small number of robots are used mainly for machining of soft materials, such as plastic, wood, foam and aluminium. We have also
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Shanmugasundar, G., R. Sivaramakrishnan, R. Sridhar, and M. Rajmohan. "Computer Aided Modelling and Static Analysis of an Inspection Robot." Applied Mechanics and Materials 766-767 (June 2015): 1055–60. http://dx.doi.org/10.4028/www.scientific.net/amm.766-767.1055.

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This paper describes the method for computer aided modelling of the newly designed robot with the aid of 3D modelling software. The static analysis of the designed robot also done by using the analysis software. The conventional design procedures of the elements of the mechanical configurations of the robot base and arm explained in exhaustive manner. Nuclear waste storage steel canisters are often required regular maintenance and surface inspection in order to ensure the goodness of the canisters. In this research work also the designed robot is doing the same task with the help of NDT system
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Karnik, A. M., and N. K. Sinha. "Modelling a Robot Arm from Sampled Input-Output Data." IFAC Proceedings Volumes 18, no. 5 (1985): 189–94. http://dx.doi.org/10.1016/s1474-6670(17)60557-3.

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Hagenah, H., W. Böhm, T. Breitsprecher, M. Merklein, and S. Wartzack. "Modelling, Construction and Manufacture of a Lightweight Robot Arm." Procedia CIRP 12 (2013): 211–16. http://dx.doi.org/10.1016/j.procir.2013.09.037.

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Dentsoras, A. J., and N. A. Aspragathos. "Modelling the dynamic characteristics of a robot arm joint." Robotics and Computer-Integrated Manufacturing 8, no. 3 (1991): 157–61. http://dx.doi.org/10.1016/0736-5845(91)90015-k.

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Bodden, Christopher, Daniel Rakita, Bilge Mutlu, and Michael Gleicher. "A flexible optimization-based method for synthesizing intent-expressive robot arm motion." International Journal of Robotics Research 37, no. 11 (2018): 1376–94. http://dx.doi.org/10.1177/0278364918792295.

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We present an approach to synthesize robot arm trajectories that effectively communicate the robot’s intent to a human collaborator while achieving task goals. Our approach uses nonlinear constrained optimization to encode task requirements and desired motion properties. Our implementation allows for a wide range of constraints and objectives. We introduce a novel objective function to optimize robot arm motions for intent-expressiveness that works in a range of scenarios and robot arm types. Our formulation supports experimentation with different theories of how viewers interpret robot motion
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Saadah, Alaa, and Géza Husi. "Six DOF Robotic Arm Prototype Modelling By Matlab." Műszaki Tudományos Közlemények 15, no. 1 (2021): 94–98. http://dx.doi.org/10.33894/mtk-2021.15.18.

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Abstract The study in this paper allows us to control the manipulator and achieve any desired position and orientation. The Forward Kinematics was done using Denavait Hartenberg (DH) parameters, also the forward kinematics equations and homogenous transformation matrix was validated using MATLAB Toolbox. The modeling was carried out using the Peter Corke robotics toolbox. Finally, the forward kinematic study and the robot arm’s movement equations were compared with practical measurements to make sure it fulfilled the desired purpose and that it could point to the desired coordinates with a pre
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Dissertations / Theses on the topic "Robot Arm- Modelling"

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Hernández, González Francisco. "Planar Robot Arm Modelling and Control." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14883.

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The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface. Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera. Afterwards
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Sutton, Roland Paul. "The control and modelling of a highly flexible single link robot arm." Thesis, University of Leeds, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.440531.

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Mendes, Eduardo Felippe Aguiar. "Uma contribuição ao desenvolvimento de manipuladores antropomorficos com enfase na utilização de musculos artificiais." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264731.

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Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007<br>Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teoria
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Tataryn, Peter D. "Modelling and compensation of stick-slip friction for robot arm control." 1996. http://hdl.handle.net/1993/19358.

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Theodore, Rex J. "Dynamic Modeling And Control Analysis Of Multilink Flexible Manipulators." Thesis, 1995. https://etd.iisc.ac.in/handle/2005/1632.

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Theodore, Rex J. "Dynamic Modeling And Control Analysis Of Multilink Flexible Manipulators." Thesis, 1995. http://etd.iisc.ernet.in/handle/2005/1632.

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Books on the topic "Robot Arm- Modelling"

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Kruise, Inus. Modelling and control of a flexible beam and robot arm. Universiteit Twente, 1990.

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Steenman, G. J. J. Modelling and simulation of a manipulator joint. National Aeronautical Laboratories, 1987.

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Prins, J. J. M. Flexible space-based robot modelling and real-time simulation. National Aerospace Laboratory, 1989.

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Little, Max A. Machine Learning for Signal Processing. Oxford University Press, 2019. http://dx.doi.org/10.1093/oso/9780198714934.001.0001.

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Digital signal processing (DSP) is one of the ‘foundational’ engineering topics of the modern world, without which technologies such the mobile phone, television, CD and MP3 players, WiFi and radar, would not be possible. A relative newcomer by comparison, statistical machine learning is the theoretical backbone of exciting technologies such as automatic techniques for car registration plate recognition, speech recognition, stock market prediction, defect detection on assembly lines, robot guidance and autonomous car navigation. Statistical machine learning exploits the analogy between intelli
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Book chapters on the topic "Robot Arm- Modelling"

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Uran, S., and K. Jezernik. "Robot Arm Modelling and Control." In Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich. Springer Vienna, 1994. http://dx.doi.org/10.1007/978-3-7091-9346-4_10.

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Ferreras-Higuero, Eugenio, Eduardo Díez-Cifuentes, Erardo Leal-Muñoz, Miguel Clavijo-Jiménez, and Antonio Vizán-Idoipe. "Analysis of the Behaviour of Vertical Articulated Robots in Machining Operations." In Proceedings of the XV Ibero-American Congress of Mechanical Engineering. Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-38563-6_58.

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AbstractThe aim of this work is to improve the productivity of manufacturing cells by reallocating tasks between the machine tools and the robot. The true working capacity of the robot is established considering the process forces and taking into account the specified precision of the product to be manufactured by accurately modelling its behaviour. This modelling has been carried out using the multi-body method and considering a variable stiffness in the robot joints. The behaviour of the robot at different points in the work area is determined, determining where the best results are produced. This results in the possible reallocation of tasks, the positioning point and the orientation of the workpiece in the working area.The simulated or measured cutting force is fed into the model, modified according to variations in the machining parameters. These variations occur due to deviations of the robot during the machining path. A function is defined where the influence on the value of the force is recorded. This input information can be modified based on feedback from the estimated behaviour of the robot. The results of the modelling of the robot and its interaction with the cutting forces show the influence of the type of robot and the work area in which it is working, allowing the process to be characterised.
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Spiers, Adam, Said Ghani Khan, and Guido Herrmann. "Neural Network Motion Learning by Observation for Task Modelling and Control." In Biologically Inspired Control of Humanoid Robot Arms. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30160-0_10.

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Banaś, Wacław, and Kamil Lysek. "Modelling Industrial Robot Fanuc ARC Mate 100iB in LabVIEW." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-15857-6_1.

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Waldschmitt, B., J. Lange, C. Borg Costanzi, U. Knaack, T. Engel, and J. Müller. "Robot supported wire arc additive manufacturing and milling of steel columns." In Current Perspectives and New Directions in Mechanics, Modelling and Design of Structural Systems. CRC Press, 2022. http://dx.doi.org/10.1201/9781003348443-59.

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Waldschmitt, B., J. Lange, C. Borg Costanzi, U. Knaack, T. Engel, and J. Müller. "Robot supported wire arc additive manufacturing and milling of steel columns." In Current Perspectives and New Directions in Mechanics, Modelling and Design of Structural Systems. CRC Press, 2022. http://dx.doi.org/10.1201/9781003348450-59.

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Stavropoulos, Panagiotis, Dimitris Manitaras, Harry Bikas, and Thanassis Souflas. "Integration of Machining Process Digital Twin in Early Design Stages of a Portable Robotic Machining Cell." In Lecture Notes in Mechanical Engineering. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18326-3_30.

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AbstractIndustrial robots have been getting a more important role in manufacturing processes during the last decades, due to the flexibility they can provide in terms of reachability, size of working envelope and workfloor footprint. An especially interesting application are material removal processes and specifically machining. Use of robots in machining has opened new pathways for the development of flexible, portable robotic cells for several use cases. However, the peculiarity of such cells compared to traditional machine tools calls for novel approaches in their design and dynamic analysis. To this end, this work proposes an approach that integrates the digital twin of the machining process to set the boundary conditions for the design and dynamic analysis of the robotic cell. Physics-based modelling of milling is coupled with a Multi-Body Simulation of the robotic arm to define the inputs for the design of the cell. The design and dynamic analysis of the robotic cell is performed in a commercial FEA package, taking into account the requirements of the machining process.
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Tran, Thierry, Adebayo Abass, Luis Alejandro Taborda Andrade, et al. "Cost-Effective Cassava Processing: Case Study of Small-Scale Flash-Dryer Reengineering." In Root, Tuber and Banana Food System Innovations. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-92022-7_4.

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AbstractThe development and scaling out of flash-dryer innovations for more efficient, small-scale production of high-quality cassava flour (HQCF) and starch is described. The diagnoses of cassava-processing SMEs (small and medium enterprises) revealed their energy expenditures for drying were considerably higher than those of large-scale industrial companies, which was mostly due to suboptimal design of flash-drying systems. As a result, small-scale production of cassava starch and HQCF often incurs high production costs, incompatible with market prices of final products. Taking stock of this situation, RTB scientists have developed several innovations to optimize energy efficiency and costs, including a longer drying pipe, reengineered heat exchanger, larger blower for higher air velocity, and a higher product/air ratio. This was based on numerical modelling to determine the key design features of energy-efficient flash dryers, followed by construction and demonstration of a pilot-scale prototype. As a result, improved small-scale flash dryers are now being scaled out to the private sector in various countries, using the Scaling Readiness framework and achieving 10–15% gains in productivity and incomes. A method for diagnosis of process efficiency is also described, to identify technical bottlenecks and to document and measure the outcomes and impacts during the implementation of scaling-out projects.
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Horejš, Otakar, Martin Mareš, Michal Straka, Jiří Švéda, and Tomáš Kozlok. "Adaptive Thermal Error Compensation Model of a Horizontal Machining Centre." In Lecture Notes in Production Engineering. Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-34486-2_7.

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AbstractThe state-of-the-art method to reduce CNC machine tool thermal errors is real-time error compensation based on the thermal error estimation models. However, it is difficult to establish a thermal error compensation model with good versatility, high accuracy, and strong robustness due to various manufacturing conditions and a thermally varying surrounding environment. It causes that thermal behaviour of the machine tools is nonlinear and varying in real time. Consequently, the pre-trained and non-adaptive model may not be accurate and robust enough for long-term application. The presented research shows a systematic adaptation technique to update the thermal error compensation model of a horizontal machining centre under varying conditions, which differ from the calibration test. System identification theory is applied to build a dynamic thermal error model for a horizontal machining centre based on calibration test. Linear parametric models of autoregressive with external input (ARX) present an established dynamic method, and its modelling and calculation speed are suitable for real-time applications. Additionally, process-intermittent probing and thermal error model are integrated into the machine management software of the horizontal machining centre to monitor and compensate for thermal errors at the tool centre point (TCP) in real time using C#/C++ programming language. The results show that the prediction accuracy measured as peak-to-peak values and the normalized root mean squared error of the thermal error compensation models are improved by up to 33% and 51%, respectively, when adaptive compensation model is applied.
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Zhang, Tao, Vuthichai Ampornaramveth, and Haruki Ueno. "Human-Robot Interaction Control for Industrial Robot Arm through Software Platform for Agents and Knowledge Management." In Industrial Robotics: Theory, Modelling and Control. Pro Literatur Verlag, Germany / ARS, Austria, 2006. http://dx.doi.org/10.5772/5025.

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Conference papers on the topic "Robot Arm- Modelling"

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Dallali, Houman, Gustavo Medrano-Cerda, Navvab Kashiri, Nikos Tsagarakis, and Darwin Caldwell. "Decentralized Feedback Design for a Compliant Robot Arm." In 2014 European Modelling Symposium (EMS). IEEE, 2014. http://dx.doi.org/10.1109/ems.2014.101.

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Shen, Haoyu, Yanli Liu, and Hongtao Wu. "High effective inverse dynamics modelling for dual-arm robot." In 6TH INTERNATIONAL CONFERENCE ON COMPUTER-AIDED DESIGN, MANUFACTURING, MODELING AND SIMULATION (CDMMS 2018). Author(s), 2018. http://dx.doi.org/10.1063/1.5039135.

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Wei, Bin. "Modelling and Control of a Translational Robotic Arm." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23947.

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Abstract The objective of this paper is to design and model a translational robotic arm that is simple and cheap to manufacture while maintaining good functionality. Once the robotic arm is designed, the control analysis and computer simulation are conducted. When selecting the material used for the parts, the density and strength of are considered. This paper covers the design process, analysis and computer simulation of a robotic arm. The final design is a 4-DOF (degrees of freedom) pick and place robot. This robot has 1 prismatic joint and 3 revolute joints. The arm is designed to be used i
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Bhaskaran, J., C. Venkatesh, Abdulmelik Husen Meda, and V. Aswinprasad. "Modelling and trajectory tracking of four arm robot for inspection." In INTERNATIONAL CONFERENCE ON MATERIALS, MANUFACTURING AND MACHINING 2019. AIP Publishing, 2019. http://dx.doi.org/10.1063/1.5117951.

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Surya, P., A. S. A. Doss, and O. F. Aviles. "Modelling and simulation of dual arm robot for material transfer applications." In International Conference on Robotics, Automation and Non-Destructive Evaluation. CLAWAR Association Ltd, 2022. http://dx.doi.org/10.13180/rane.2022.23.04.11.

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Boudoua, S., R. Fellag, and M. Hamerlain. "Adaptive twist sliding mode control based chatter reduction for pneumatic artificial muscles robot arm." In 2016 8th International Conference on Modelling, Identification and Control (ICMIC). IEEE, 2016. http://dx.doi.org/10.1109/icmic.2016.7804251.

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Yetik, A., and V. Karadag. "Force Control of a Robot Arm During Contact Task." In ASME 2002 Engineering Technology Conference on Energy. ASMEDC, 2002. http://dx.doi.org/10.1115/etce2002/struc-29025.

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There are extremely important applications to investigate the control of contact between the end-effectors and the object. During controlling an object, static or in motion, the robot arm should not be damaged. Forces are important in such conditions. The forces between the end-effectors and the object have to be controlled. The motion of the robot arm changes forces. Thats why, to control forces, a force kontrol algorithm must be developed. Previous conventional force control algorithms could not control the robot effectively by only considering the variation of working environment. In this s
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Esfandbod, Alireza, Hossein Nejat Pishkenari, and Ali Meghdari. "Dynamic Modelling and Control of a Sphere-Based Micro Robot with Adjustable Arm." In 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS). IEEE, 2018. http://dx.doi.org/10.1109/marss.2018.8481143.

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Hosseini, Sara, and Ingo Hahn. "Kinodynamic Motion Planning and Energy Loss Cost Function Modelling for a 2- DOF Robot Arm Manipulator." In 2020 IEEE International Conference on Industrial Technology (ICIT). IEEE, 2020. http://dx.doi.org/10.1109/icit45562.2020.9067281.

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Wang, Xueqian, Bo Xia, Gang Li, Houde Liu, and Bin Liang. "Modelling and control of dual-arm free-floating space robot using virtual decomposition control for capturing target." In 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2017. http://dx.doi.org/10.1109/robio.2017.8324716.

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Reports on the topic "Robot Arm- Modelling"

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Zhang, Xingyu, Matteo Ciantia, Jonathan Knappett, and Anthony Leung. Micromechanical study of potential scale effects in small-scale modelling of sinker tree roots. University of Dundee, 2021. http://dx.doi.org/10.20933/100001235.

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When testing an 1:N geotechnical structure in the centrifuge, it is desirable to choose a large scale factor (N) that can fit the small-scale model in a model container and avoid unwanted boundary effects, however, this in turn may cause scale effects when the structure is overscaled. This is more significant when it comes to small-scale modelling of sinker root-soil interaction, where root-particle size ratio is much lower. In this study the Distinct Element Method (DEM) is used to investigate this problem. The sinker root of a model root system under axial loading was analysed, with both upw
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Dinovitzer, Aaron. PR-214-144500-R01 Weld Hydrogen Cracking Susceptibility Characterization. Pipeline Research Council International, Inc. (PRCI), 2016. http://dx.doi.org/10.55274/r0010924.

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Hydrogen cracking has been and continues to be observed in both heat-affected zones and weld metals. High carbon equivalent weldment heat-affected zones (HAZ) combined with rapid cooling have been related to the development of hydrogen cracking susceptible microstructures. Weld metal cracking is observed in both high and low strength weldments and is a particular concern for root passes due to the use of cellulosic electrodes, parent metal dilution, applied load, and weld fault stress riser effects promoting cracking. The risk of HAZ and weld cracking are increased for repair and in-service we
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Dinovitzer, Aaron. PR-214-144500-R05 Weld Hydrogen Cracking Susceptibility Characterization. Pipeline Research Council International, Inc. (PRCI), 2018. http://dx.doi.org/10.55274/r0011495.

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Hydrogen cracking has been and continues to be observed in both heat-affected zones and weld metals. High carbon equivalent weldment heat-affected zones (HAZ) combined with rapid cooling have been related to the development of hydrogen cracking susceptible microstructures. Weld metal cracking is observed in both high and low strength weldments and is a particular concern for root passes due to the use of cellulosic electrodes, parent metal dilution, applied load, and weld fault stress riser effects promoting cracking. The risk of HAZ and weld cracking are increased for repair and in-service we
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Davies, Will. Improving the engagement of UK armed forces overseas. Royal Institute of International Affairs, 2022. http://dx.doi.org/10.55317/9781784135010.

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The UK government’s Integrated Review of security, defence, development and foreign policy, published in March 2021 alongside a supporting defence command paper, set a new course for UK national security and highlighted opportunities for an innovative approach to international engagement activity. The Integrated Review focused principally on the state threats posed by China’s increasing power and by competitors – including Russia – armed with nuclear, conventional and hybrid capabilities. It also stressed the continuing risks to global security and resilience due to conflict and instability in
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