Log in

Relevant bibliographies by topics / Robot manipulator control / Journal articles

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

Journal articles 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 journal articles 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 journal articles on a wide variety of disciplines and organise your bibliography correctly.

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

2

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

3

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

4

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

5

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

6

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

7

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

8

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

9

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.

Full text

Abstract:

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.

APA, Harvard, Vancouver, ISO, and other styles

10

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.

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

11

Wang, D., J. P. Huissoon, and K. Luscott. "A Teaching Robot for Demonstrating Robot Control Strategies." Robotica 11, no. 5 (1993): 393–401. http://dx.doi.org/10.1017/s0263574700016945.

Full text

Abstract:

SUMMARYIt is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is sugge

APA, Harvard, Vancouver, ISO, and other styles

12

ZHENG, SHUPENG, XINJIAN NIU, and CHENHUI PENG. "ADAPTIVE SUPER-TWISTING-LIKE SLIDING MODE CONTROL WITH PRESCRIBED PERFORMANCE FOR ROBOT MANIPULATORS." Journal of Mechanics in Medicine and Biology 19, no. 08 (2019): 1940053. http://dx.doi.org/10.1142/s0219519419400530.

Full text

Abstract:

In order to minimize the involuntary tremor of surgeon’s hands, the surgical robots are widely applied in the minimally invasive surgeries. However, unlike ordinary robots, the surgical robots require that the manipulator has high precision and strong anti-disturbance ability. Besides that, the manipulators of surgical robots must be able to move smoothly and respond quickly to the surgeon’s instructions during conducting tasks. To solve aforementioned problems, this paper describes a super-twisting sliding mode controller for the robot manipulator. The basic law is combined with the adaptive

APA, Harvard, Vancouver, ISO, and other styles

13

Zhang, Longbin, Wen Qi, Yingbai Hu, and Yue Chen. "Disturbance-Observer-Based Fuzzy Control for a Robot Manipulator Using an EMG-Driven Neuromusculoskeletal Model." Complexity 2020 (November 30, 2020): 1–10. http://dx.doi.org/10.1155/2020/8814460.

Full text

Abstract:

Robot manipulators have been extensively used in complex environments to complete diverse tasks. The teleoperation control based on human-like adaptivity in the robot manipulator is a growing and challenging field. This paper developed a disturbance-observer-based fuzzy control framework for a robot manipulator using an electromyography- (EMG-) driven neuromusculoskeletal (NMS) model. The motion intention (desired torque) was estimated by the EMG-driven NMS model with EMG signals and joint angles from the user. The desired torque was transmitted into the desired velocity for the robot manipula

APA, Harvard, Vancouver, ISO, and other styles

14

Yang, Bin, Yuqing He, Jianda Han, and Guangjun Liu. "Rotor-Flying Manipulator: Modeling, Analysis, and Control." Mathematical Problems in Engineering 2014 (2014): 1–13. http://dx.doi.org/10.1155/2014/492965.

Full text

Abstract:

Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined syst

APA, Harvard, Vancouver, ISO, and other styles

15

Butenko, Victor, Irina Davidova, Philipp Pastukhov, and Tatyana Bagdasaryan. "Investigation of the Dynamic Characteristics of the Manipulator of the Industrial Robot Technology." MATEC Web of Conferences 297 (2019): 02003. http://dx.doi.org/10.1051/matecconf/201929702003.

Full text

Abstract:

The article describes the results of the study of dynamic characteristics of the manipulator of technological industrial robot. In addition, formulas for determining the forces of the control action on the links of the manipulator when performing specific technological methods of finishing the surfaces of the part are obtained. The influence of control forces on the functioning and technical capabilities of the manipulator of technological industrial robot is revealed. Standard layout schemes of manipulators of technological industrial robots were developed, and the analysis of their dynamic c

APA, Harvard, Vancouver, ISO, and other styles

16

Mabong, Griffin, Emmanuel Osore, and Peter Cherop. "A demonstrative-kinesthetic teaching approach for inverse kinematics of a 4-DOF robot manipulator." Journal of Applied Engineering Science 22, no. 4 (2024): 772–80. https://doi.org/10.5937/jaes0-52032.

Full text

Abstract:

Kinesthetic guidance as a paradigm of programming by demonstration of robot manipulators has eased the process of robot programming, especially for non-skilled and semi-skilled shop-floor operators in manufacturing industries. Today, the inverse problem remains an area of interest in robotics, leading up to the deployment of robots for collaborative technology with humans. The paper proposes using a demonstrative-kinesthetic teaching technique to program a robot manipulator, determine the inverse kinematics using the approach, and compare with structured texts to program the manipulator. The a

APA, Harvard, Vancouver, ISO, and other styles

17

Wang, J., F. Gao, and Y. Zhang. "Intelligent Control of a Novel Hydraulic Forging Manipulator." Journal of Robotics 2011 (2011): 1–7. http://dx.doi.org/10.1155/2011/530247.

Full text

Abstract:

The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of f

APA, Harvard, Vancouver, ISO, and other styles

18

Wu, Qiong, Hua Chen, and Baolong Liu. "A Multi-DOF Manipulator Joint Trajectory Tracking and Monitoring Method Based on Decision Tree." Mathematical Problems in Engineering 2022 (October 15, 2022): 1–10. http://dx.doi.org/10.1155/2022/6375727.

Full text

Abstract:

Understanding trajectory tracking control concerns is crucial for industrial-grade manipulators to provide precise and risk-free operations for the safe environment. Consequently, the robot arms need precise aim for tracking a given target trajectory by the trajectory control input driving torque which can use smart AI-based techniques for precision. Similarly, a decision tree is a soft computing-based method of feature space partitioning which can certainly allow the movement of robots in an accurate manner. The control of robot arms is an important aspect for automating the process of sustai

APA, Harvard, Vancouver, ISO, and other styles

19

Kazerooni, H. "On the Robot Compliant Motion Control." Journal of Dynamic Systems, Measurement, and Control 111, no. 3 (1989): 416–25. http://dx.doi.org/10.1115/1.3153070.

Full text

Abstract:

The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment, and a bound for stable manipulation has been derived. We show that for stability of the robot, there must be some initial compliancy either in the robot or in the environment. The general stability condition has been extended to the particular case where the environment is very r

APA, Harvard, Vancouver, ISO, and other styles

20

Omarov, M., V. Korobskyi, and V. Nevliudova. "FEATURES OF KINEMATICS AND CONTROL OF MULTI-LINK MANIPULATOR ROBOTS." Системи управління, навігації та зв’язку. Збірник наукових праць 1, no. 71 (2023): 127–33. http://dx.doi.org/10.26906/sunz.2023.1.127.

Full text

Abstract:

The subject of research is multi-link manipulators, their kinematics and methods of controlling multi-link manipulator robots. To improve the accuracy of movement of each link and their synergy of work with each other during operation. In addition, the subject of the research is the analysis of the requirements for multi-link robot manipulators and the improvement of the kinematics of the robot-manipulator movements based on the comparison of mathematical methods in operating conditions. In different operating conditions manipulators and the automation of the production line is a big step for

APA, Harvard, Vancouver, ISO, and other styles

21

Sekiguchi, Yuta, Yo Kobayashi, Yu Tomono, et al. "Development of a Tool Manipulator Driven by a Flexible Shaft for Single-Port Endoscopic Surgery." Journal of Robotics and Mechatronics 23, no. 6 (2011): 1115–24. http://dx.doi.org/10.20965/jrm.2011.p1115.

Full text

Abstract:

Recently, a robotic system was developed to assist in Single-Port Endoscopic Surgery (SPS). However, the existing system required a manual operation of vision and viewpoint, hindering the surgical task. We proposed a surgical endoscopic robot for SPS with a dynamic vision control, the endoscopic view being manipulated by a master controller. The prototype robot consists of a manipulator for vision control, and dual tool tissue manipulators (gripping: five DOFs; cautery: three DOFs) can be attached at the tip of the sheath manipulator. In particular, this paper focuses on the details of the mec

APA, Harvard, Vancouver, ISO, and other styles

22

Shah, Jolly Atit, and S. S. Rattan. "Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control." IAES International Journal of Robotics and Automation (IJRA) 5, no. 4 (2016): 277. http://dx.doi.org/10.11591/ijra.v5i4.pp277-283.

Full text

Abstract:

<p>Due to their advantage of high speed, accuracy and repeatability, robot manipulators have become major component of manufacturing industries and even now a days they become part of routine life. </p><p>Two link robot manipulator is a very basic classical and simple example of robot followed in understanding of basic fundamentals of robotic manipulator. The equation of motion for two link robot is a nonlinear differential equation. For higher degrees of freedom, as the closed form solutions are very difficult we have to use numerical solution. Here we focused mainly on cont

APA, Harvard, Vancouver, ISO, and other styles

23

Dolgii, Y. F., and I. А. Chupin. "Optimal Control of Manipulator." Bulletin of Irkutsk State University. Series Mathematics 43 (2022): 3–18. http://dx.doi.org/10.26516/1997-7670.2023.43.3.

Full text

Abstract:

When solving the problem of optimal performance for manipulative robots, the scientific team headed by F. L. Chernousko actively uses the Pontryagin maximum principle. The application of the maximum principle is complicated by the nonlinearities of controlled systems of manipulation robots. Therefore, when using it, the original mathematical model is replaced with a simpler one. These substitutions made it possible to analytically solve the problems of finding the switching points of relay controls for individual models of manipulation robots. In this paper, when finding the switching moments

APA, Harvard, Vancouver, ISO, and other styles

24

Du, Yanfeng, and Cong Wang. "Dynamic Coupling and Control of Flexible Space Robots." International Journal of Structural Stability and Dynamics 20, no. 09 (2020): 2050103. http://dx.doi.org/10.1142/s0219455420501035.

Full text

Abstract:

The dynamic modeling and coupling effect of a space robot are complex when the flexible manipulator and solar panels are considered. This paper investigates the dynamic coupling effect and control of a flexible space robot with flexible manipulators and flexible panels. The equations of motion are derived for the robot model both of the rigid-flexible type and flexible-flexible type. The flexible space robot dynamic model is verified by comparison with the results generated by the ADAMS software, for which good agreement has been obtained. The dynamic coupling matrix of the flexible space robo

APA, Harvard, Vancouver, ISO, and other styles

25

Gupta, Mukul Kumar, Roushan Kumar, Varnita Verma, and Abhinav Sharma. "Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator." Journal Européen des Systèmes Automatisés 54, no. 4 (2021): 641–47. http://dx.doi.org/10.18280/jesa.540414.

Full text

Abstract:

In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show th

APA, Harvard, Vancouver, ISO, and other styles

26

Maeda, Yusuke, Takayuki Hara, and Tamio Arai. "Cooperative Human-robot Handling of an Object with Motion Estimation." Journal of Robotics and Mechatronics 14, no. 5 (2002): 432–38. http://dx.doi.org/10.20965/jrm.2002.p0432.

Full text

Abstract:

In this paper, a control method of robots for cooperative human-robot handling of an object is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using a nonlinear least-squares method, we identify two parameters of a minimum-jerk trajectory of a human hand in real time. The estimated position of the human hand is used to determine the desired position of the end-effector of the manipulator in virtual compliance control. Motion estimation enables robots to coordinate actively even for unknown trajectories of manipulated objects that human part

APA, Harvard, Vancouver, ISO, and other styles

27

YILMAZLAR, Eray. "FORCE BASED IMPEDANCE CONTROL OF 5-BAR PARALLEL ROBOT MANIPULATOR." Mühendislik Bilimleri ve Tasarım Dergisi 11, no. 4 (2023): 1452–60. http://dx.doi.org/10.21923/jesd.1300482.

Full text

Abstract:

The interaction of robots with the environment is increasing in many sectors. In particular, position and force-dependent interactions are frequently used in sensitive applications. In this interaction control, impedance control method answer the need. The parallel robot manipulator is one of the models that is widely used in this field and constitutes the basic of many robot designs. In this study, an exemplary 5-limb robot manipulator is designed. Position change according to the amount of load applied on this manipulator was realized with impedance control. Force amount measurement was appl

APA, Harvard, Vancouver, ISO, and other styles

28

Nguyen, Hong Quang, Van Quyen Nguyen, and Nhu Hien Nguyen. "Radial basis function neural network control for parallel spatial robot." TELKOMNIKA Telecommunication, Computing, Electronics and Control 18, no. 6 (2020): 3191~3201. https://doi.org/10.12928/TELKOMNIKA.v18i6.14913.

Full text

Abstract:

The derivation of motion equations of constrained spatial multibody system is an important problem of dynamics and control of parallel robots. The paper firstly presents an overview of the calculating the torque of the driving stages of the parallel robots using Kronecker product. The main content of this paper is to derive the inverse dynamics controllers based on the radial basis function (RBF) neural network control law for parallel robot manipulators. Finally, numerical simulation of the inverse dynamics controller for a 3-RRR delta robot manipulator is presented as an illustrative example

APA, Harvard, Vancouver, ISO, and other styles

29

Xin, Jing, Han Cheng, and Baojing Ran. "Visual servoing of robot manipulator with weak field-of-view constraints." International Journal of Advanced Robotic Systems 18, no. 1 (2021): 172988142199032. http://dx.doi.org/10.1177/1729881421990320.

Full text

Abstract:

Aiming at the problem of servoing task failure caused by the manipulated object deviating from the camera field-of-view (FOV) during the robot manipulator visual servoing (VS) process, a new VS method based on an improved tracking learning detection (TLD) algorithm is proposed in this article, which allows the manipulated object to deviate from the camera FOV in several continuous frames and maintains the smoothness of the robot manipulator motion during VS. Firstly, to implement the robot manipulator visual object tracking task with strong robustness under the weak FOV constraints, an improve

APA, Harvard, Vancouver, ISO, and other styles

30

Glushko, S. P. "Calculation of Angular Coordinates for the Control System of a Two-Link Industrial Robot Manipulator." Advanced Engineering Research 22, no. 4 (2023): 346–52. http://dx.doi.org/10.23947/2687-1653-2022-22-4-346-352.

Full text

Abstract:

Introduction. One of the tasks of two-link manipulators of industrial robots that move the end-effector along complex trajectories (e.g., robot welder) is associated with the need for careful programming of their movement. For these purposes, manual programming methods or training methods are used. These methods are quite labor-intensive, and they require highly qualified service personnel. A possible solution to the problem of programming the manipulator movements is the simulation of motion with the calculation of angular coordinates. This can help simplify the geometric adaptation of the ma

APA, Harvard, Vancouver, ISO, and other styles

31

Chen, Chunchao, and Yi Liu. "Research on Door-Opening Strategy Design of Mobile Manipulators Based on Visual Information and Azimuth." Scientific Programming 2022 (April 9, 2022): 1–10. http://dx.doi.org/10.1155/2022/6156558.

Full text

Abstract:

At present, the manipulator has become an important auxiliary tool in the production and processing operations, so new requirements are put forward for the control strategy of the manipulator. In production, because traditional manipulators can only perform tasks according to the set procedures and cannot fully realize the intelligence and collaboration of control, how to improve the operating efficiency of manipulators has become an urgent problem to be solved. The autonomous door-opening control of robots is a challenging research topic in the field of automation. In the robot movement, targ

APA, Harvard, Vancouver, ISO, and other styles

32

Ayazbai, Abu Alim, Gani Balbaev, and Sandugash Orazalieva. "MANIPULATOR CONTROL SYSTEMS REVIEW." Вестник КазАТК 124, no. 1 (2023): 245–53. http://dx.doi.org/10.52167/1609-1817-2023-124-1-245-253.

Full text

Abstract:

This review focuses on manipulator control systems, which are systems that control the movement of manipulators, a type of robot programmed to move in specific ways. The control systems send commands to actuators (such as motors or pneumatic cylinders) based on input from sensors (such as position or force sensors) to control the movement of the manipulator's joints. Manipulator control systems have a wide range of applications in industries such as robotics, industrial automation, and medical and surgical robotics. The review covers the different types of manipulator control systems, includin

APA, Harvard, Vancouver, ISO, and other styles

33

Yegana Aliyeva, Yegana Aliyeva, and İsmail Khalilzadeh İsmail Khalilzadeh. "MICROCONTROLLER MANAGEMENT SYSTEM OF MANIPULATOR MANAGE." ETM - Equipment, Technologies, Materials 23, no. 05 (2024): 83–89. http://dx.doi.org/10.36962/etm23052024-09.

Full text

Abstract:

Currently, most manipulators are driven by a DC or AC motor. The encoder is used as a speed positioning and feedback device in the manipulator control system.The spectrum of available solutions in the field of microcontroller control systems of manipulators is considered in the article. The circuit of the controller board has been developed to control the transfer of the manipulator manga.The analysis of the element base included in the composition of the control board has been performed. The manipulators used for the automation of biochemical analysis allow to improve the quality of the condu

APA, Harvard, Vancouver, ISO, and other styles

34

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

Full text

Abstract:

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

APA, Harvard, Vancouver, ISO, and other styles

35

Hwang, Yunn Lin, Jung Kuang Cheng, and Van Thuan Truong. "Dynamic Analysis and Control of Industrial Robotic Manipulators." Applied Mechanics and Materials 883 (July 2018): 30–36. http://dx.doi.org/10.4028/www.scientific.net/amm.883.30.

Full text

Abstract:

Robot simulation has developed quickly in recent decades. Along with the development of computer science, a lot of simulation soft-wares have been created to perform many purposes such as studying kinematic, dynamic, and off-line program to avoid obstacle on manipulator robots. The main objective of this study is therefore to analyze kinematic, dynamic characteristics of an R-R robotic manipulator in order to control this robot. Newton-Euler method was used to calculate the torque acting on each joint of the robot. Then, a numerical model of the robot was established by a multi-body dynamics s

APA, Harvard, Vancouver, ISO, and other styles

36

Kim, Taehyeon, Myunghyun Kim, Sungwoo Yang, and Donghan Kim. "Navigation Path Based Universal Mobile Manipulator Integrated Controller (NUMMIC)." Sensors 22, no. 19 (2022): 7369. http://dx.doi.org/10.3390/s22197369.

Full text

Abstract:

As the demand for service robots increases, a mobile manipulator robot which can perform various tasks in a dynamic environment attracts great attention. There are some controllers that control mobile platform and manipulator arm simultaneously for efficient performance, but most of them are difficult to apply universally since they are based on only one mobile manipulator model. This lack of versatility can be a big problem because most mobile manipulator robots are made by connecting a mobile platform and manipulator from different companies. To overcome this problem, this paper proposes a s

APA, Harvard, Vancouver, ISO, and other styles

37

Balabanov, Alexey, Anna Bezuglaya, and Evgeny Shushlyapin. "Underwater Robot Manipulator Control." Informatics and Automation 20, no. 6 (2021): 1307–32. http://dx.doi.org/10.15622/ia.20.6.5.

Full text

Abstract:

This paper deals with the problem of bringing the end effector (grip center) of an underwater vehicle anthropomorphic manipulator to a predetermined position in a given time using the terminal state method. A dynamic model with the account of joint drives dynamics is formulated on the basis of obtained kinematic model constructed by using the Denavit-Hartenberg method (DH model). The DH model is used in a terminal nonlinear criterion that displays estimate of the proximity of the effector's orientation and position to the specified values. The dynamic model is adapted for effective application

APA, Harvard, Vancouver, ISO, and other styles

38

Krasilnikyants, E. V., A. A. Varkov, and V. V. Tyutikov. "Robot manipulator control system." Automation and Remote Control 74, no. 9 (2013): 1589–98. http://dx.doi.org/10.1134/s0005117913090154.

Full text

APA, Harvard, Vancouver, ISO, and other styles

39

Nakanishi, Hiroki, and Kazuya Yoshida. "Impedance Control of Free-Flying Space Robot for Orbital Servicing." Journal of Robotics and Mechatronics 18, no. 5 (2006): 608–17. http://dx.doi.org/10.20965/jrm.2006.p0608.

Full text

Abstract:

One of the most important phases of orbital servicing by a space robot is capturing a target satellite. In this phase, there is the risk that contact will push the target and robot away from each other. Controlling the impedance of the manipulator effectively prevents this. For a free-flying space robot, however, conventional methods used for fixed base robots cannot be used because the motion of the base interferes with the manipulator motion. An impedance control method for a space manipulator arm is proposed, where the end tip of the manipulator is controlled as if a mass-damper-spring syst

APA, Harvard, Vancouver, ISO, and other styles

40

Norkina, N. V., and F. A. Mevis. "Determination of the positioning accuracy of industrial manipulators using a digital photo/video camera." Open Education 23, no. 3 (2019): 42–48. http://dx.doi.org/10.21686/1818-4243-2019-3-42-48.

Full text

Abstract:

Purpose of research. The aim of the study is to develop a system for the analysis and evaluation of positioning errors manipulators precision industrial robots used in the production of microelectronic equipment. The positioning accuracy of the manipulator varies depending on the operating modes of the robot and is difficult to predict and difficult to analyze. The accuracy of positioning is influenced by the design features of the robot manipulator, the speed of movement and rotation of the manipulator, intermediate stops and accelerations, vibrations, both own and caused by the location of t

APA, Harvard, Vancouver, ISO, and other styles

41

Santini, Diego Caberlon, and Walter Fetter Lages. "A component-based architecture for robot control." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 4 (2011): 398–411. http://dx.doi.org/10.1590/s0103-17592011000400007.

Full text

Abstract:

This work deals with the specification of an open architecture for control of manipulator robots. The architecture defines policies for the use of the OROCOS framework and is specified for a generic manipulator robot with N joints, through the definition of component models to abstract the hardware and each block of the robot controller. To show its generality, the proposed architecture is used to implement two different controllers: an independent PID for each joint and controller with feedforward compensation. The validation is made through the implementation in real-time on the Janus robot.

APA, Harvard, Vancouver, ISO, and other styles

42

Mochiyama, Hiromi, Megu Gunji, and and Ryuma Niiyama. "Ostrich-Inspired Soft Robotics: A Flexible Bipedal Manipulator for Aggressive Physical Interaction." Journal of Robotics and Mechatronics 34, no. 2 (2022): 212–18. http://dx.doi.org/10.20965/jrm.2022.p0212.

Full text

Abstract:

In this letter, ostrich-inspired soft robotics, an approach to intelligent robots that can achieve dexterous manipulation and locomotion without hesitating to collide with the surrounding environment, is proposed. The rationale behind the approach is described from the history of bio-inspired mechanisms, biology, and the theory of robot control. This letter focuses on the manipulator. The first prototype of an ostrich-inspired manipulator was developed to investigate its feasibility. This prototype is a serial chain of 18 rigid links connected with rotation joints moving in a vertical plane an

APA, Harvard, Vancouver, ISO, and other styles

43

Munadi and Tomohide Naniwa. "Experimental Verification of Adaptive Dominant Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators." Journal of Robotics and Mechatronics 25, no. 4 (2013): 737–47. http://dx.doi.org/10.20965/jrm.2013.p0737.

Full text

Abstract:

This paper presents an experimental study to verify an adaptive dominant type hybrid adaptive and learning controller for acquiring an accurate trajectory tracking of periodic desired trajectory of robot manipulators. The proposed controller is developed based on combining the model-based adaptive control (MBAC), repetitive learning control (RLC) and proportionalderivative (PD) control in which the MBAC input becomes dominant than other inputs. Dominance of adaptive control input gives the advantage that the proposed controller could adjust the feed-forward motion control input immediately aft

APA, Harvard, Vancouver, ISO, and other styles

44

Franco-López, Arturo, Mauro Maya, Alejandro González, Antonio Cardenas, and Davide Piovesan. "Depth-Dependent Control in Vision-Sensor Space for Reconfigurable Parallel Manipulators." Sensors 23, no. 16 (2023): 7039. http://dx.doi.org/10.3390/s23167039.

Full text

Abstract:

In this paper, a control approach for reconfigurable parallel robots is designed. Based on it, controls in the vision-sensor, 3D and joint spaces are designed and implemented in target tracking tasks in a novel reconfigurable delta-type parallel robot. No a priori information about the target trajectory is required. Robot reconfiguration can be used to overcome some of the limitations of parallel robots like small relative workspace or multiple singularities, at the cost of increasing the complexity of the manipulator, making its control design even more challenging. No general control methodo

APA, Harvard, Vancouver, ISO, and other styles

45

Kawasaki, Haruhisa. "Special Issue on Recent Advances in Robot Control." Journal of Robotics and Mechatronics 13, no. 5 (2001): 449. http://dx.doi.org/10.20965/jrm.2001.p0449.

Full text

Abstract:

This special issue contains outstanding papers on robot control presented at international meetings in Japan in 2000. Featured topics include face robots, polishing robots, control for multifingered robotic hands, re configurable brachiating space robots, DD parallel robots, and robot control technologies such as a distributed robust motion controller, image-based visual servoing, fault adaptive kinematic control, and optimum control for a robot manipulator. We also will have a variety of topics such as shaft insert tasks in the robot task field, fingerprint image sensing in sensing technologi

APA, Harvard, Vancouver, ISO, and other styles

46

Tarvirdizadeh, Bahram, Khalil Alipour, and Alireza Hadi. "An algorithm for dynamic object manipulation by a flexible link robot." Engineering Computations 33, no. 5 (2016): 1508–29. http://dx.doi.org/10.1108/ec-06-2015-0145.

Full text

Abstract:

Purpose – The purpose of this paper is to focus on an online closed-loop (CL) approach for performing dynamic object manipulation (DOM) by a flexible link manipulator. Design/methodology/approach – Toward above goal, a neural network and optimal control are integrated in a closed-loop structure, to achieve a robust control for online DOM applications. Additionally, an elegant novel numerical solution method will be developed which can handle the split boundary value problem resulted from DOM mission requirements for a wide range of boundary conditions. Findings – The obtained simulation result

APA, Harvard, Vancouver, ISO, and other styles

47

Wenger, Philippe. "Cuspidal and noncuspidal robot manipulators." Robotica 25, no. 6 (2007): 677–89. http://dx.doi.org/10.1017/s0263574707003761.

Full text

Abstract:

SUMMARYThis article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the regions of feasible paths in the workspace are defined. Then, several sufficient geometric conditions for a manipulator to be noncuspidal are enumerated and a general necessary and sufficient condition for a manipulator to be cuspidal is provided. An explicit DH-parameter-based condition for an orthogonal manipulator to be cuspidal is derived. The fu

APA, Harvard, Vancouver, ISO, and other styles

48

Izadbakhsh, Alireza, and Saeed Khorashadizadeh. "Robust task-space control of robot manipulators using differential equations for uncertainty estimation." Robotica 35, no. 9 (2016): 1923–38. http://dx.doi.org/10.1017/s0263574716000588.

Full text

Abstract:

SUMMARYMost control algorithms for rigid-link electrically driven robots are given in joint coordinates. However, since the task to be accomplished is expressed in Cartesian coordinates, inverse kinematics has to be computed in order to implement the control law. Alternatively, one can develop the necessary theory directly in workspace coordinates. This has the disadvantage of a more complex robot model. In this paper, a robust control scheme is given to achieve exact Cartesian tracking without the knowledge of the manipulator kinematics and dynamics, actuator dynamics and nor computing invers

APA, Harvard, Vancouver, ISO, and other styles

49

Le, Quang Dan, and Erfu Yang. "Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization." Sensors 24, no. 21 (2024): 6837. http://dx.doi.org/10.3390/s24216837.

Full text

Abstract:

In this paper, adaptive fault-tolerant control for multi-joint robot manipulators is proposed through the combination of synchronous techniques and neural networks. By using a synchronization technique, the position error at each joint simultaneously approaches zero during convergence due to the constraints imposed by the synchronization controller. This aspect is particularly important in fault-tolerant control, as it enables the robot to rapidly and effectively reduce the impact of faults, ensuring the performance of the robot when faults occur. Additionally, the neural network technique is

APA, Harvard, Vancouver, ISO, and other styles

50

Zarafshan, Payam, Reza Larimi, S. Ali A. Moosavian, and Bruno Siciliano. "Which impedance strategy is the most effective for cooperative object manipulation?" Industrial Robot: An International Journal 44, no. 2 (2017): 198–209. http://dx.doi.org/10.1108/ir-08-2016-0216.

Full text

Abstract:

Purpose The purpose of this paper is to present a comparison study of cooperative object manipulation control algorithms. To this end, a full comprehensive survey of the existing control algorithms in this field is presented. Design/methodology/approach Cooperative manipulation occurs when manipulators are mechanically coupled to the object being manipulated, and the manipulators may not be treated as an isolated system. The most important and basic impedance control (IC) strategies for an assumed cooperative object manipulation task are the Augmented Object Model (AOM) control and the multipl

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!