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Relevant bibliographies by topics / Robot manipulator control

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Academic literature on the topic 'Robot manipulator control'

Author: Grafiati

Published: 4 June 2021

Last updated: 26 July 2025

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Journal articles on the topic "Robot manipulator control"

1

Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin, and Zhixin Hu. "A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator." Applied Sciences 9, no. 10 (2019): 2033. http://dx.doi.org/10.3390/app9102033.

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool po

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Streltsov, Oleh V., Yuriy V. Ornovetsky, Mykhailo O. Katrichenko, Vladyslav G. Pozdnyakov, and Serhiy S. Konovalov. "ROS-based manipulator robot control system." ELECTRICAL AND COMPUTER SYSTEMS, no. 42(118) (2025): 6–13. https://doi.org/10.15276/eltecs.42.118.2025.1.

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Abstract. In order to realize the control of the robot manipulator, the control system of the robot manipulator was studied. On the premise of ensuring the robustness and real-time of the system, it is proposed to build a control system based on Ubuntu system combined with Robot Operating System (ROS), and use Controller Area Network (CAN) communication to build a robot manipulator. Finally, through the simulation experiment and the physical robot control experiment, the application effect of the robot manipulator control system is verified. The experimental results show that the robot manipul

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Hurski, N. N., Yu A. Skudnyakov, V. S. Artsiushchyk, and A. N. Bezruchko. "Control of Mechatronic System Based on Multilink Robot-Manipulators." Science & Technique 18, no. 4 (2019): 350–54. http://dx.doi.org/10.21122/2227-1031-2019-18-4-350-354.

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The task of controlling multi-link robots with manipulators for implementation of high-tech processes in industry has been considered in the paper. The paper presents sequential steps of using computer technology in construction of robotic-manipulators, including mathematical, algorithmic, and hardware and software tools for creating a multi-drive mechatronic system controlled by OMRON industrial microcontroller. A kinematic scheme of a robot manipulator has been described in the paper and it performs the following two types of movements – rotation around the z axis and rectilinear movement of

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Wei-hong, Xu, Cao Li-jia, and Zhong Chun-lai. "Review of Aerial Manipulator and its Control." International Journal of Robotics and Control Systems 1, no. 3 (2021): 308–25. http://dx.doi.org/10.31763/ijrcs.v1i3.363.

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The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, an

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Zhu, Yuanchao, Canjun Yang, Qianxiao Wei, Xin Wu, and Wei Yang. "Human–robot shared control for humanoid manipulator trajectory planning." Industrial Robot: the international journal of robotics research and application 47, no. 3 (2020): 395–407. http://dx.doi.org/10.1108/ir-10-2019-0217.

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Purpose This paper aims to propose an intuitive shared control strategy to control a humanoid manipulator that can fully combine the advantages of humans and machines to produce a stronger intelligent form. Design/methodology/approach The working space of an operator’s arm and that of a manipulator are matched, and a genetic algorithm that limits the position of the manipulator’s elbow joint is used to find the optimal solution. Then, the mapping of the operator’s action to that of manipulators is realized. The controls of the human and robot are integrated. First, the current action of the op

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Yir, Khor Ching, Haslina Arshad, and Elankovan Sundararajan. "Offline Programming to Control Robot Manipulator in Virtual Kinematic Learning Tool." Advanced Materials Research 845 (December 2013): 740–44. http://dx.doi.org/10.4028/www.scientific.net/amr.845.740.

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Robot programming demands skilled robot programmers. Conventional methods of robot programming include teaching robot using the teach pendant and the high level programming language. Teaching robot kinematics and solving kinematic problems are complex and they involve robot programming. With the advancement of computer and robotic technologies, this can be solved via computer simulation. In this paper, an approach for programming the robots manipulator via an offline virtual kinematic learning tool is proposed. A virtual system is developed which has a user interface for users to improve the k

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Nawrocka, Agata, Andrzej Kot, and Marcin Nawrocki. "Control Algorithms for Robot Manipulator." Applied Mechanics and Materials 759 (May 2015): 45–50. http://dx.doi.org/10.4028/www.scientific.net/amm.759.45.

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The subject of this work is to develop a control system for the two degree of freedom robot manipulator. Manipulators play an increasingly important role not only in flexible automation production systems but also in medicine and rehabilitation process [3]. High-speed and high-precision trajectory tracking are indispensable capabilities for versatile applications of manipulators. Even in well-known industrial applications manipulators are characterized by structural and / or unstructured uncertainty. Through structural uncertainty we miss a situation in which we have a dynamic model of the obj

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Kazerooni, H., B. J. Waibel, and S. Kim. "On the Stability of Robot Compliant Motion Control: Theory and Experiments." Journal of Dynamic Systems, Measurement, and Control 112, no. 3 (1990): 417–26. http://dx.doi.org/10.1115/1.2896159.

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The work presented here is a nonlinear approach for the stability analysis of robot manipulators in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated, and a bound for stable manipulation has been derived. The stability analysis has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment. This unified approach of modeling robot dynamics is expressed in terms of sensitivity functions as opposed to the rigid body dynamics derived by Lagrangian approach. It allows us to incorporate

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Kanarachos, A., M. Sfantsikopoulos, and P. Vionis. "A Splines–Based Control Method for Robot Manipulators." Robotica 7, no. 3 (1989): 213–21. http://dx.doi.org/10.1017/s026357470000607x.

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SUMMARYIn this paper, a new splines–based control method for robot manipulators is presented and discussed. The above method can be effectively used for path planning and control of rigid and flexible robots. The computational simplicity of the proposed algorithm, together with its flexibility and its high–level intelligence built in, can be considered as promising tools for achieving the goals of modem robot manipulator design.

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Senda, Kei, Yoshisada Murotsu, Akira Mitsuya, Hirokazu Adachi, Shin'ichi Ito, and Jynya Shitakubo. "Hardware Experiments of Autonomous Space Robot – A Demonstration of Truss Structure Assembly –." Journal of Robotics and Mechatronics 12, no. 4 (2000): 343–50. http://dx.doi.org/10.20965/jrm.2000.p0343.

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This paper addresses an experimental system simulating a free-flying space robot, which has been constructed to study autonomous space robots. The experimental system consists of a space robot model, a frictionless table system, a computer system, and a vision sensor system. The robot model composed of two manipulators and a satellite vehicle can move freely on a two-dimensional planar table without friction by using air-bearings. The robot model has successfully performed the automatic truss structure construction including many jobs, e.g., manipulator berthing, component manipulation, arm tr

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Dissertations / Theses on the topic "Robot manipulator control"

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Wahab, W. "Adaptive control of robot manipulator." Thesis, University of Manchester, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372317.

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Round, Philip A. "Simulation of robot manipulator control strategies." Thesis, Aston University, 1988. http://publications.aston.ac.uk/11918/.

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The high capital cost of robots prohibit their economic application. One method of making their application more economic is to increase their operating speed. This can be done in a number of ways e.g. redesign of robot geometry, improving actuators and improving control system design. In this thesis the control system design is considered. It is identified in the literature review that two aspects in relation to robot control system design have not been addressed in any great detail by previous researchers. These are: how significant are the coupling terms in the dynamic equations of the robo

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QUEIROZ, MARCIO SANTOS DE. "INVERSE DYNAMICS METHOD FOR ROBOT MANIPULATOR CONTROL." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1993. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=19548@1.

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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>O método da dinâmica inversa para o controle de manipuladores robóticos é apresentado. A ideia básica deste método é cancelar as não linearidades e acoplamentos, que caracterizam o comportamento dinâmico de manipuladores, através de um modelo dinâmico do mesmo (controlador primário). Com isto, o sistema resultante é linear e desaclopado, podendo ser controlado por técnicas de controle linear (controlador secundário). O método é inicialmente desenvolvido considerando o caso ideal do controlador primário (onde o modelo dinâmico é p

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Makondo, Ndivhuwo. "Modeling and control of a robot manipulator." Master's thesis, University of Cape Town, 2013. http://hdl.handle.net/11427/11817.

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Includes bibliographical references.<br>This thesis presents work completed on the design of the modelling and path planning components for a robot manipulator mounted on a mobile platform. This platform is for use in the mining safety inspections of the mine roof, i.e., the hanging wall. Currently this process is done by mine workers and it places them at risk of falling of unstable rocks from the roof. A geometric based inverse kinematics algorithm for a 5 DOF redundant manipulator is proposed and implemented on a Packbot510i used as a test platform. Three versions of the Rapidly-exploring R

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Ahmed, Muhammad Rehan. "Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction." Doctoral thesis, Örebro universitet, Akademin för naturvetenskap och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-13986.

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Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition. Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, thi

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Park, Jong Hyeon. "Supervisory control of robot manipulator for gross motions." Thesis, Massachusetts Institute of Technology, 1991. http://hdl.handle.net/1721.1/101309.

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McCormick, William C. (William Carson) Carleton University Dissertation Engineering Electrical. "Investigations of impedance control for a robot manipulator." Ottawa, 1991.

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8

Vestheim, Siri. "Pruning of RBF Networks in Robot Manipulator Learning Control." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18591.

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Radial Basis Function Neural Networks are well suited for learning the systemdynamics of a robot manipulator and implementation of these networks in thecontrol scheme for a manipulator is a good way to deal with the system uncertaintiesand modeling errors which often occur. The problem with RBF networkshowever is to nd a network with suitable size, not too computational demandingand able to give accurate approximations. In general two methods for creating anappropriate RBF network has been developed, 1) Growing and 2) Pruning.In this report two dierent pruning methods which are suitable for us

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Braganza, David. "Control techniques for robot manipulator systems with modeling uncertainties." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1193079734/.

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Mackay, Andrew Stuart. "A flexible robot control system for subsea manipulator applications." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.260371.

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Books on the topic "Robot manipulator control"

1

Lewis, Frank L. Robot manipulator control: Theory and practice. 2nd ed. Marcel Dekker, 2004.

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Abdallah, C. T. (Chaouki T.) and Dawson D. M, eds. Robot manipulator control: Theory and practice. 2nd ed. Marcel Dekker, 2004.

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Round, Philip Andrew. Simulation of robot manipulator control strategies. Aston University. Department of Mechanical and Production Engineering, 1988.

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G, Atkeson Christopher, and Hollerbach John M, eds. Model-based control of a robot manipulator. MIT Press, 1988.

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5

K, Kitagaki, Hakomori K, and United States. National Aeronautics and Space Administration., eds. Dynamic force signal processing system of a robot manipulator. National Aeronautics and Space Administration, 1987.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. National Aeronautics and Space Administration, 1995.

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Brown, Robert Michael. A microcontroller-based three degree-of-freedom manipulator testbed. National Aeronautics and Space Administration, 1995.

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Morris, A. S. Quadratic optimal control of a two-flexible-link robot manipulator. University, Dept. of Control Engineering, 1995.

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André, Hickman, Guo Ten-Huei, and United States. National Aeronautics and Space Administration., eds. A new technique for compensating joint limits in a robot manipulator. National Aeronautics and Space Administration, 1996.

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Book chapters on the topic "Robot manipulator control"

1

Peng, Gang, Tin Lun Lam, Chunxu Hu, Yu Yao, Jintao Liu, and Fan Yang. "Manipulator Motion Control." In Introduction to Intelligent Robot System Design. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-1814-0_7.

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Yang, Chenguang, Hongbin Ma, and Mengyin Fu. "Intelligent Control of Robot Manipulator." In Advanced Technologies in Modern Robotic Applications. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-0830-6_3.

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Zhang, Yunong, and Zhijun Zhang. "Physical Robot Manipulator Experiments." In Repetitive Motion Planning and Control of Redundant Robot Manipulators. Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37518-7_11.

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Han, Jun-Wei, Wei Wei, and Zhi-Dong Yang. "Dynamics Decoupling Control of Parallel Manipulator." In Dynamic Decoupling of Robot Manipulators. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-74363-9_5.

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Loor, Steeven J., Alan R. Bejarano, Franklin M. Silva, and Víctor H. Andaluz. "Construction and Control Aerial Manipulator Robot." In Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-55789-8_11.

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Pham, Duc Truong, and Xing Liu. "Robot Manipulator Control Using Neural Networks." In Neural Networks for Identification, Prediction and Control. Springer London, 1995. http://dx.doi.org/10.1007/978-1-4471-3244-8_8.

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Tenreiro Machado, J. A., and J. L. Martins de Carvalho. "Robot Manipulator Systems: Analysis and Control." In Systems Analysis and Simulation II. Springer US, 1988. http://dx.doi.org/10.1007/978-1-4613-8936-1_31.

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Yang, Chenguang, Hongbin Ma, and Mengyin Fu. "Visual Servoing Control of Robot Manipulator." In Advanced Technologies in Modern Robotic Applications. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-0830-6_5.

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Wang, Shuo, Yu Wang, Min Tan, et al. "Motion Control of the Underwater Biomimetic Robot." In Underwater Biomimetic Vehicle-Manipulator System. Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-0655-0_4.

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Heyden, T., T. Maier, and C. Woernle. "Trajectory Tracking Control for a Cable Suspension Manipulator." In Advances in Robot Kinematics. Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_14.

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Conference papers on the topic "Robot manipulator control"

1

Tseng, Chien-Yao, and Han-Pang Haung. "Carbon Fiber Robot Manipulator with Virtual Impedance Control." In 2024 International Conference on Advanced Robotics and Intelligent Systems (ARIS). IEEE, 2024. http://dx.doi.org/10.1109/aris62416.2024.10679972.

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Coelho, João, Laiany Brancalião, Mariano Alvarez, Paulo Costa, and José Gonçalves. "Prototyping and Control of an Educational Manipulator Robot." In 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE, 2024. http://dx.doi.org/10.1109/codit62066.2024.10708583.

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An, Tianjiao, Haoyu Yan, Bing Ma, Xinye Zhu, Hongbo Dong, and Bo Dong. "Variable Impedance Decentralized Control of Reconfigurable Robot Manipulator for Human Robot Collaboration." In 2024 IEEE 14th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2024. http://dx.doi.org/10.1109/cyber63482.2024.10749487.

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Yu, Yue-Qing, and Ji-Yun Yang. "Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-84160.

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The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree

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Jin, Xu. "Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3117.

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Abstract In this work, we propose a novel decentralized iterative learning cooperative impedance control (ILCIC) framework to cooperatively control the impedance of a robot manipulator team that operates in an iterative manner. Using a novel notion of neighbourhood impedance error, a formation-based architecture based on an undirected communication graph is proposed so that all robots in the team can achieve the desired impedance, even though some robot manipulators may not know the desired angle profiles and their relative configuration with respect to these desired angles. Furthermore, these

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Dhami, Sukhdeep S., Ashutosh Sharma, Rohit Kumar, and Parveen Kalra. "Gesture Based Control of a Simulated Robot Manipulator." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47419.

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The number of industrial and household robots is fast increasing. A simpler human-robot interaction is preferred in household robotic applications as well as in hazardous environments. Gesture based control of robots is a step in this direction. In this work, a virtual model of a 3-DOF robotic manipulator is developed using V-Realm Builder in MATLAB and the mathematical models of forward and inverse kinematics of the manipulator are coded in MATLAB/Simulink software. Human hand gestures are captured using a smartphone with accelerometer and orientation sensors. A wireless interface is provided

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Liu, Xiaolian, Shaohua Wang, and Ying Luo. "Fractional-Order Impedance Control Design for Robot Manipulator." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-71936.

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Abstract In order to make robot manipulators work more compliantly when contacting with the environment, it is necessary to reduce the contact force caused by positioning errors. One effective way to solve this problem is impedance control, which makes the robot manipulator a second-order mass-spring-damping system in principle. In this paper, a position-based fractional-order impedance control design method is proposed for the robot manipulator force control. The end-effector/environment contact model is established, and the closed-loop system is analyzed with the reference force as input. A

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Chen, Ting-Sheng, and Jen-Yuan (James) Chang. "Robot Manipulator Vibration Resistance Control Based on Physical Model." In ASME 2020 29th Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/isps2020-1914.

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Abstract The overwhelming manufacturing process with robotic arm has replaced human labors in handling and manufacturing work-pieces in factories. In these years, higher accuracy and repeatability are required for robotic manipulators to perform processes such as welding, deburring and grinding in factories. In these path-following processes, the manipulator’s end-effector often encounter position error caused by its vibrating structures. Therefore, the quality of machining accuracy and surface roughness becomes unstable and unsatisfied. For the purpose of avoiding the vibrations to occur in t

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Mascaro, Stephen. "A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9878.

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This paper describes a modular 2-DOF serial robot manipulator and accompanying experiments that have been developed to introduce students to the fundamentals of robot control. The robot is designed to be safe and simple to use, and to have just enough complexity (in terms of nonlinear dynamics) that it can be used to showcase and compare the performance of a variety of textbook robot control techniques including computed torque feedforward control, inverse dynamics control, robust sliding-mode control, and adaptive control. These various motion control schemes can be easily implemented in join

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Stiles, James M., Jae H. Chung, and Steven A. Velinsky. "Dynamic Modeling of a Non-Redundant Spatial Mobile Manipulator." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21532.

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Abstract Mobile manipulators are comprised of robot manipulators mounted upon mobile platforms which allow for both high mobility and dexterous manipulation ability. Although much research has been performed in the area of motion control of mobile manipulators, previous developed models are typically simplified and assume only planar motion and/or holonomic constraints. In this work, the equations of motion of a three dimensional non-redundant wheeled-vehicle based mobile manipulator system are developed using a Newton-Euler formulation. This model incorporates a complex tire model which accou

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Reports on the topic "Robot manipulator control"

1

Chang, Pyung H. A Dexterity Measure for the Kinematic Control of Robot Manipulator with Redundancy. Defense Technical Information Center, 1988. http://dx.doi.org/10.21236/ada196223.

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Braganza, D., M. L. McIntyre, D. M. Dawson, and I. Walker. Whole Arm Grasping Control for Redundant Robot Manipulators. Defense Technical Information Center, 2005. http://dx.doi.org/10.21236/ada465616.

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Tatlicioglu, E., M. McIntyre, D. Dawson, and I. Walker. Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions. Defense Technical Information Center, 2005. http://dx.doi.org/10.21236/ada465620.

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Mekonnen, Bisrat, Benjamin Christie, Michael Paquette, and Garry Glaspell. 3D mapping and navigation using MOVEit. Engineer Research and Development Center (U.S.), 2023. http://dx.doi.org/10.21079/11681/47179.

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Until recently, our focus has been primarily on the development of a low SWAP-C payload for deployment on a UGV that leverages 2D mapping and navigation. Due to these efforts, we are able to autonomously map and navigate very well within flat indoor environments. This report will explore the implementation of 3D mapping and navigation to allow unmanned vehicles to operate on a variety of terrains, both indoor and outdoor. The method we followed uses MOVEit, a motion planning framework. The MOVEit application is typically used in the control of robotic arms or manipulators, but its handling of

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Brown Horowitz, Sigal, Eric L. Davis, and Axel Elling. Dissecting interactions between root-knot nematode effectors and lipid signaling involved in plant defense. United States Department of Agriculture, 2014. http://dx.doi.org/10.32747/2014.7598167.bard.

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Root-knot nematodes, Meloidogynespp., are extremely destructive pathogens with a cosmopolitan distribution and a host range that affects most crops. Safety and environmental concerns related to the toxicity of nematicides along with a lack of natural resistance sources threaten most crops in Israel and the U.S. This emphasizes the need to identify genes and signal mechanisms that could provide novel nematode control tactics and resistance breeding targets. The sedentary root-knot nematode (RKN) Meloidogynespp. secrete effectors in a spatial and temporal manner to interfere with and mimic multi

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