Log in

Relevant bibliographies by topics / Robot manipulator control / Dissertations / Theses

To see the other types of publications on this topic, follow the link: Robot manipulator control.

Dissertations / Theses on the topic 'Robot manipulator control'

Author: Grafiati

Published: 4 June 2021

Last updated: 26 July 2025

Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles

Select a source type:

Consult the top 50 dissertations / theses for your research on the topic 'Robot manipulator control.'

Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.

You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.

Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.

1

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

2

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

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

3

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

4

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

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

5

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

6

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

7

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

Find full text

APA, Harvard, Vancouver, ISO, and other styles

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

9

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

10

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.

Full text

APA, Harvard, Vancouver, ISO, and other styles

11

Syed, Mohammad Athar. "Modelling and control of a parallel-actuated robot manipulator." Thesis, Cardiff University, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.388459.

Full text

APA, Harvard, Vancouver, ISO, and other styles

12

Ekrekli, Alaaddin. "Control & identification of a two link robot manipulator." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316886.

Full text

APA, Harvard, Vancouver, ISO, and other styles

13

Шендрик, Віра Вікторівна, Вера Викторовна Шендрик, Vira Viktorivna Shendryk, Е. Kuznetsov, and Y. Mashyn. "Investigation of industrial robot-manipulator computer model motion control." Thesis, Sumy State University, 2017. http://essuir.sumdu.edu.ua/handle/123456789/55777.

Full text

Abstract:

This article provides a technology for develop a physical and mathematical simulation of the robot's computer model. The purpose of the work is to learn how to define the movement of robot elements. A complete, controlled computer model of an industrial robot manipulator has been created. Model control is implemented using the modeling environment software. The technology developed is used to master the basics of robotics.

APA, Harvard, Vancouver, ISO, and other styles

14

Tsakalotos, Orestis I. "Active control of flexible structures and manipulators." Thesis, University of Newcastle Upon Tyne, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316255.

Full text

APA, Harvard, Vancouver, ISO, and other styles

15

Fraser, Anthony. "Perturbation techniques in the dynamics and control of flexible manipulators." Thesis, University of Oxford, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329872.

Full text

APA, Harvard, Vancouver, ISO, and other styles

16

Sharon, Andre. "The macro/micro manipulator : an improved architecture for robot control." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/14434.

Full text

APA, Harvard, Vancouver, ISO, and other styles

17

Miro, Jaime Valls. "Investigations into an optimal approach for on-line robot trajectory planning and control." Thesis, Middlesex University, 1997. http://eprints.mdx.ac.uk/6558/.

Full text

Abstract:

The purpose of this thesis is to present a comprehensive and practical approach for the time-optimal motion planning and control of a general purpose industrial manipulator. In particular, the case of point-to-point path unconstrained motions is considered, with special emphasis towards strategies suitable for efficient on-line implementations. From a dynamic model description of the plant, and using an advanced graphical robotics simulation environment, the control algorithms are formulated. Experimental work is then conducted to verify the proposed algorithms, by interfacing the industrial m

APA, Harvard, Vancouver, ISO, and other styles

18

Bezerra, Rayza Araújo. "Modelagem e controle de robô manipulador de base livre flutuante com dois braços." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-04082015-112812/.

Full text

Abstract:

A pesquisa na área de robótica espacial lida com problemas exclusivos, acarretados pela natureza e características dinâmicas dos sistemas. Isso torna a modelagem uma área de extrema importância para garantir um desempenho satisfatório. A maior característica dos braços robóticos espaciais é que seu movimento perturba a espaçonave na qual está acoplado. Essa propriedade deve ser levada em consideração, especialmente no caso de robôs de base livre flutuante que não possuem controle de posição ou atitude na base. A maior destreza e flexibilidade de manipuladores de múltiplos braços faz com que s

APA, Harvard, Vancouver, ISO, and other styles

19

Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.

Full text

Abstract:

L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propuls

APA, Harvard, Vancouver, ISO, and other styles

20

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

21

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

22

Plouffe, Guillaume. "Real-Time Gesture-Based Posture Control of a Manipulator." Thesis, Université d'Ottawa / University of Ottawa, 2020. http://hdl.handle.net/10393/40096.

Full text

Abstract:

Reaching a target quickly and accurately with a robotic arm containing multiple joints while avoiding moving and fixed obstacles can be a daunting (and sometimes impossible) task for any user behind the remote control. Current existing solutions are often hard to use and to scale for all user body types and robotic arm configurations. In this work, we propose a vision-based gesture recognition approach to naturally control the overall posture of a robotic arm using human hand gestures and an inverse kinematic exploration approach using the FABRIK algorithm. Three different methods are investig

APA, Harvard, Vancouver, ISO, and other styles

23

Joshi, Atul Ravindra. "Design and control of a three degree-of-freedom planar parallel robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.

Full text

APA, Harvard, Vancouver, ISO, and other styles

24

Gullayanon, Rutchanee. "Motion Control of 3 Degree-Of-Freedom Direct-Drive Robot." Thesis, Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/6969.

Full text

Abstract:

Modern motion controllers of robot manipulators require knowledge of the system's dynamics in order to intelligently predict the torque command. The main objective for this thesis is to apply various motion controllers on a parallel direct drive robot in simulations and verify if one can take advantage of the model knowledge to improve performance of controllers. The controllers used in this thesis varied from simple PD control with position and velocity reference only applied independently at each joint to more advanced PD control with full dynamic feedforward term and computed torque contro

APA, Harvard, Vancouver, ISO, and other styles

25

Zhong, George Guozhen. "Development of a hydraulic robot for tunnel drilling, manipulator kinematics and tracking control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq23961.pdf.

Full text

APA, Harvard, Vancouver, ISO, and other styles

26

Mohammed, Ali. "PASSIVITY-BASED TRACKING CONTROL OF A ROBOT MANIPULATOR USING AN EXTENDED STATE OBSERVER." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1590253786792864.

Full text

APA, Harvard, Vancouver, ISO, and other styles

27

Springer, Bradley Mark. "The development of the control for an urban search and rescue robot manipulator arm." Master's thesis, University of Cape Town, 2013. http://hdl.handle.net/11427/5468.

Full text

Abstract:

Includes abstract.<br>Includes bibliographical references.<br>The University of Cape Town (UCT) Robotics and Agents Research Laboratory (RARL) began research into developing a USAR robot in 2006. The final design of the fourth generation USAR robot developed by UCT [is] named RATEL... This document reports on the research and development of the control for the four degree-of-freedom manipulator arm and pan/tilt system located on the RATEL USAR robot. The report initially discusses control methods used on previously developed teleoperated manipulators in the fields of kinematic modelling, motor

APA, Harvard, Vancouver, ISO, and other styles

28

Oliveira, Israel Gonçalves de. "Comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicados a manipuladores robóticos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156791.

Full text

Abstract:

Este trabalho apresenta uma comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicadas a manipuladores robóticos. O objetivo no uso desses controladores é para que o manipulador siga referência de trajetória periódica no espaço das juntas. O desenvolvimento e implementação dos controladores são focados no manipulador WAM (Whole Arm Manipulator) da Barrett Technology®Inc. Neste trabalho, também são apresentadas uma formulação do modelo não linear do manipulador e as sínteses dos controladores por torque calculado e repetitivo aplicados ao modelo do manipula

APA, Harvard, Vancouver, ISO, and other styles

29

Nakashima, Paulo Hiroaqui Ruiz. "Controle H2, H∞ e H2/H∞ aplicados a um robô manipulador subatuado." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-08062017-122423/.

Full text

Abstract:

Este trabalho apresenta os resultados da aplicação de três técnicas de controle utilizadas no projeto e implementação do controle de um manipulador subatuado planar de três juntas em série e de elos rígidos, projetado e construído pela Universidade Carnegie Mellon, EUA. Devido ao alto grau de não-linearidade deste sistema, seria muito difícil implementar um controlador H2, H&#8734 ou H2/H&#8734 que atuasse sozinho. Assim, propõe-se a utilização de um método de controle combinado: torque computado/H2, H&#8734 ou H2/H&#8734. No controle combinado, a porção correspondente ao torque computado line

APA, Harvard, Vancouver, ISO, and other styles

30

Maciel, Benedito Carlos de Oliveira. "Controle subótimo de manipuladores subatuados via redundância de atuação." Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-02062016-154733/.

Full text

Abstract:

Este trabalho apresenta uma metodologia de controle de posição das juntas passivas de um manipulador subatuado de uma maneira subótima. O termo subatuado se refere ao fato de que nem todas as juntas ou graus de liberdade do sistema serem equipados com atuadores, o que ocorre na prática devido a falhas ou como resultado de projeto. As juntas passivas de manipuladores desse tipo são indiretamente controladas pelo movimento das juntas ativas usando as características de acoplamento da dinâmica de manipuladores. A utilização de redundância de atuação das juntas ativas permite a minimização de algu

APA, Harvard, Vancouver, ISO, and other styles

31

Moberg, Stig. "Modeling and Control of Flexible Manipulators." Doctoral thesis, Linköpings universitet, Reglerteknik, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60831.

Full text

Abstract:

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the mathematical models and control methods in order to fu

APA, Harvard, Vancouver, ISO, and other styles

32

Khademolama, Ehsan. "Vision in the Loop for Force and Position Control of the Robot Manipulators." Doctoral thesis, Università degli studi di Bergamo, 2018. http://hdl.handle.net/10446/104935.

Full text

Abstract:

Over the last decades, both force sensors and cameras have developed as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. It addresses the use of monocular eye-in-hand machine vision to control the position of a robot manipulator for dynamically challenging tasks. Such tasks are defined as those where the robot motion required approaches o

APA, Harvard, Vancouver, ISO, and other styles

33

Qin, Jinna. "Commande hybride position/force robuste d’un robot manipulateur utilisé en usinageet/ou en soudage." Thesis, Paris, ENSAM, 2013. http://www.theses.fr/2013ENAM0058/document.

Full text

Abstract:

La problématique traitée dans cette thèse concerne la commande de robots manipulateurs industriels légèrement flexibles utilisés pour la robotisation de procédés d'usinage et de soudage FSW. Le premier objectif est la modélisation des robots et des procédés. Les modèles développés concernant la cinématique et la dynamique de robots 6 axes à architecture série et à flexibilité localisées aux articulations. Les paramètres du modèle dynamique et les raideurs sont identifiés avec la méthode à erreur de sortie qui donne une bonne précision d'estimation. La norme relative du résidu du modèle après i

APA, Harvard, Vancouver, ISO, and other styles

34

Dong, Yuan. "Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27126.

Full text

Abstract:

In this thesis, a position control system for a single flexible-link flexible-joint (FLFJ) manipulator has been developed. It is presented in three parts: dynamic modeling and analysis, control system design, and experimental analysis of the designed control system. The assumed modes method and the Lagrange approach were combined to derive a dynamic model of the single FLFJ manipulator and then this model was linearized about zero deflection for both the flexible joint and the flexible link. The resulting linear dynamic model was used for the dynamic analysis and control system design. Equatio

APA, Harvard, Vancouver, ISO, and other styles

35

Farfan, Daniel Vidal. "Controladores Markovianos aplicados a um robô manipulador subatuado." Universidade de São Paulo, 2000. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-14112017-101923/.

Full text

Abstract:

Este trabalho trata do controle Markoviano aplicado a um robô manipulador visando obter um sistema tolerante a falhas. Os controladores H2, H&#8734, e H2/H&#8734 Markovianos são calculados e aplicados ao robô em diversas situações de operação. Os controladores obtidos mantiveram a estabilidade do sistema tanto em situações de operação normal, quanto em situações de falhas sucessivas.<br>This work deals with Markovian control applied to a robot manipulator, in an effort to obtain a fault tolerant system. The H2, H&#8734, and H2/H&#8734 controllers were calculated and applied to the robot in dif

APA, Harvard, Vancouver, ISO, and other styles

36

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

Full text

APA, Harvard, Vancouver, ISO, and other styles

37

Farelo, Fabian. "Task oriented simulation and control of a wheelchair mounted robotic arm." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003294.

Full text

APA, Harvard, Vancouver, ISO, and other styles

38

Pereira, Laís Guedes. "Projeto de um controlador PD adaptativo via alocação de polos aplicado em um robô manipulador de dois graus de liberdade planar." Universidade Federal da Paraíba, 2013. http://tede.biblioteca.ufpb.br:8080/handle/tede/5381.

Full text

Abstract:

Made available in DSpace on 2015-05-08T14:59:56Z (GMT). No. of bitstreams: 1 arquivototal.pdf: 2940644 bytes, checksum: 1b1c6c2e9969d935855932e2f2a1e436 (MD5) Previous issue date: 2013-12-13<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior<br>This work presents a development and implementation of control adaptive techniques for a planar manipulator robot with two degrees of freedom, formed a rotational and a prismatic link. The rotational link is made up of a branch long U-shaped aluminum activated by a motor-reducer DC, its angular position is sensed by a ten turn potentiomete

APA, Harvard, Vancouver, ISO, and other styles

39

Čepička, Martin. "Návrh konstrukce a řízení manipulátoru pro laboratorní měření teplotního pole." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-228277.

Full text

Abstract:

Diploma thesis is focused on design of construction of a simple manipulator. It will be used for laboratory measurement of temperature field. The goal is to design model of the manipulator, build up control software and verify by simulation. In thesis is described design of kinematical model, which was programmed in Matlab. Design of model was created in Autodesk Inventor Professional, which allows to conduct dynamic and compactness analysis of manipulator. The Autodesk Inventor Professional was also used for creating the productive documentation. Control of manipulator was design in program L

APA, Harvard, Vancouver, ISO, and other styles

40

Pretto, Isacco. "Base Reaction Control of Space Manipulators." Doctoral thesis, Università degli studi di Padova, 2010. http://hdl.handle.net/11577/3427040.

Full text

Abstract:

In this thesis a research activity is presented, concerning matters of dynamics and control of robot manipulators for space robotics applications. In particular, kinematic control principles suitable for the realization of trajectory-tracking manoeuvres are considered for manipulators in the kinematic redundancy condition, that is typically available on actual space robotic systems. A well known characteristic of space manipulators is due to the dynamic coupling that arises between the manipulator motion and the motion of the base spacecraft on which the manipulator is mounted, due to action-r

APA, Harvard, Vancouver, ISO, and other styles

41

Šustek, David. "Konstrukce jednokolového mobilního robotu se schopností stání na místě." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417725.

Full text

Abstract:

The master thesis deals with the issue of a single-wheeled robot, especially its construction and movement in more difficult terrain with the possibility of collecting samples. A variant of the robot balanced by a pair of gyroscopes was chosen as the most suitable construction. The robot is able to move in a space with an inclination of up to 24° and is equipped with its own manipulator design.

APA, Harvard, Vancouver, ISO, and other styles

42

Nayak, Subrat. "Development of a 6 DOF compliant parallel mechanism to sense and control the force-torque and displacement of a serial robot manipulator." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0041273.

Full text

APA, Harvard, Vancouver, ISO, and other styles

43

Mestiri, Youssef. "Mobile manipulator robot: omni 3 wheels manipulator robot." Master's thesis, 2022. http://hdl.handle.net/10198/25146.

Full text

Abstract:

Mestrado de dupla diplomação com a Université Libre de Tunis<br>Robots are electromechanical machines having ability to perform tasks or actions on some given electronic programming. While Omni directional mobile robots have been popularly used in several applications since they can respond more quickly and it would be capable of more sophistication. A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. This work proposes to design and create a model of

APA, Harvard, Vancouver, ISO, and other styles

44

林根源. "Robust Impedance Control of Robot Manipulator." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/70755869343133892505.

Full text

Abstract:

碩士<br>國立臺灣科技大學<br>纖維及高分子工程技術研究所<br>85<br>About the contact force problem would effect the stability of a control system, so we would find a robust impedance controller upon impedance control theory of Hogan, to control the trace of motion and the contact force of a robot in this paper. The position control is central in Hogan's impedance control theory, it is to compute the target impedance by error of the trace in the compliance motion to transform the contact force; so we must to plan the desire trace inner the environment constrain, but due to the uncertainly of the environment, we cannot

APA, Harvard, Vancouver, ISO, and other styles

45

Sun, de la Cruz Joseph. "Learning Inverse Dynamics for Robot Manipulator Control." Thesis, 2011. http://hdl.handle.net/10012/6322.

Full text

Abstract:

Model-based control strategies for robot manipulators can present numerous performance advantages when an accurate model of the system dynamics is available. In practice, obtaining such a model is a challenging task which involves modeling such physical processes as friction, which may not be well understood and difficult to model. Furthermore, uncertainties in the physical parameters of a system may be introduced from significant discrepancies between the manufacturer data and the actual system. Traditionally, adaptive and robust control strategies have been developed to deal with parametric

APA, Harvard, Vancouver, ISO, and other styles

46

Tao, Fan. "Near-minimum-time control of a robot manipulator." Thesis, 2003. http://hdl.handle.net/2429/14293.

Full text

Abstract:

This thesis deals with the problem of minimum time control of a rigid robot manipulator with point-to-point motion subject to constraints on the control inputs. Due to the nonlinear and coupled dynamics of the robot manipulator, finding minimum time strategies is algorithmically difficult and computationally very intensive, even when the dynamic equations and parameters of the manipulator are precisely known. As a result, the practical applicability of the available methods currently is very limited. In this research, we assume the control inputs are always bang-bang and switch once. Usi

APA, Harvard, Vancouver, ISO, and other styles

47

ZHANG, QIONG-WEN, and 張瓊文. "Compliance motion control for A-type robot manipulator." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/49690454395949684133.

Full text

APA, Harvard, Vancouver, ISO, and other styles

48

ZHAN, MING-WEN, and 詹銘文. "Path control of sensor based intelligent robot manipulator." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/30206972133339402195.

Full text

APA, Harvard, Vancouver, ISO, and other styles

49

Wang, Wei-Chen, and 王瑋辰. "Adaptive Force Control for n-link Robot Manipulator." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/34607255641085104304.

Full text

Abstract:

碩士<br>國立中興大學<br>機械工程學系所<br>103<br>This thesis focus on the development of adaptive force control for an n-link robot manipulator under unknown environment, the dynamic model of robot model is the highly nonlinear and time varying, the environment stiffness coefficient are assumed to be not exactly known. Herein, fuzzy neural networks (FNNs) are adopted to estimate model matrices of robot manipulator. In order to improve estimation and reduce the effect of FNNs initialization, we represent the FNNs’ pre-condition parameters by using Taylor expansion. The simulation results of a two-link robot m

APA, Harvard, Vancouver, ISO, and other styles

50

Yi-Yi, Lin, and 林益頤. "Smooth Control of a Two-Link Robot Manipulator." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/71793827486607483270.

Full text

Abstract:

碩士<br>國立臺灣師範大學<br>機電工程學系<br>102<br>This paper presents two smooth control methods for the positioning of a two-link robot manipulator. The two-link robot manipulator is a coupled nonlinear system, and the so-called computed torque control method is employed to obtain a linear model. Then, the linear model is used to develop the smooth control methods. In mechanical systems, if jerk (i.e., the time derivative of acceleration) is too high, it may have adverse effects on the systems and even cause system instability. To avoid the problems with high jerk, jerk-constrained time-optimal control (JCT

APA, Harvard, Vancouver, ISO, and other styles

We offer discounts on all premium plans for authors whose works are included in thematic literature selections. Contact us to get a unique promo code!