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Academic literature on the topic 'Robot Manipulators'
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Journal articles on the topic "Robot Manipulators"
1
Chen, Jau-Liang, and J. Duffy. "An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators." Journal of Mechanical Design 112, no. 1 (1990): 23–29. http://dx.doi.org/10.1115/1.2912574.
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The use of two manipulators is more effective than a single manipulator for manipulatory tasks such as assembly of an object from large parts. This paper presents an analysis of the kinematic and geometric properties for rectilinear parallel operation of two spatial manipulators. Two basis types of manipulators, a TRS robot and a PUMA robot, working in cooperation are considered. The analysis is based on a study of the motion and workspace boundaries of the manipulators.
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Wenger, Philippe. "Cuspidal and noncuspidal robot manipulators." Robotica 25, no. 6 (2007): 677–89. http://dx.doi.org/10.1017/s0263574707003761.
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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 full classification of 3R orthogonal manipulators is provided and all types of cuspidal and noncuspidal orthogonal manipulators are enumerated. Finally, some facts about cuspidal and noncuspidal 6R manipulators are reported.
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Li, Jian, Xu Dong, Zhong Cai Zheng, Yan Gao, Zhen Ting Jiang, and Hai Yong Xiao. "Modal Analysis of the Line Inspection Robot's Manipulator." Applied Mechanics and Materials 681 (October 2014): 100–105. http://dx.doi.org/10.4028/www.scientific.net/amm.681.100.
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The Line Inspection Robot is used to detect the line's defects when it walks on the overhead lines. It will be swinging under its own vibration and the action of wind , due to the robot arms hanging on overhead line alone ,so the dynamic characteristics of robot arm cannot be ignored. In this paper, we establish three-dimensional models of the line inspection robot's manipulator with double manipulators of antisymmetric structure, and conduct solving and post-processing of statics and modal analysis after meshing and applying constraints. The manipulator's low frequencies and vibration modals are drawn, so we can provide a theoretical basis for the reasonable optimization improvements to the line inspection robot's manipulator with double manipulators of antisymmetric structure.
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Bhatti, P. K., and S. S. Rao. "Reliability Analysis of Robot Manipulators." Journal of Mechanisms, Transmissions, and Automation in Design 110, no. 2 (1988): 175–81. http://dx.doi.org/10.1115/1.3258923.
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A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.
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Duleba, Ignacy, and Jerzy Z. Sasiadek. "Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators." Robotica 20, no. 4 (2002): 405–15. http://dx.doi.org/10.1017/s0263574702004095.
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This paper proposes a method for transversal passing through singularities of corank 1, both for nonredundant and redundant robotic manipulators. The method modifies the Jacobian matrix of manipulator's forward kinematics to retrieve its full rank at singularities. Natural candidates for the Jacobian matrix modification are derivatives of determinants of full size sub-matrices of the Jacobian matrix. The method is illustrated with examples, including a PUMA manipulator and 2-link and 3-link planar manipulators. Some restrictions on the applicability of the method for nonredundant manipulators are also discussed.
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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.
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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 term to overcome the unknown disturbances and structural uncertainties, and with the prescribed performance allowing to influence the error dynamics. To ensure the robot system has good transient and steady-state performances, the transformation function of tracking errors is devised. Through using transformed errors, we attain the surface of sliding mode and propose a modified structure of traditional super-twisting algorithm. Considering the derivative of lumped disturbance has unknown boundary, a novel adaptive law is derived for the modified super-twisting sliding mode control which does not require the boundary of disturbance. Simulation experiments showed that the proposed control algorithm not only improves the tracking performance of surgical robot manipulators, but also facilitates the parameter tuning of controller. The devised robot manipulators are also potentially applicable to telesurgery where the steady-state response of surgical robots is required.
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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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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.
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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 the robot in production. The positioning accuracy may differ for different points of the robot working area. We need a system of analysis and error estimation that allows us to effectively carry out a series of hundreds and thousands of measurements. One of the promising areas is the use of digital technology with subsequent processing of data on the computer. Materials and methods of research. The construction of effective robotic systems depends on the correct implementation of the certification of industrial robots in order to provide control systems of industrial robots with accurate data for trouble-free and correct operation in conditions specific to a particular production. The solution of the complex problem of certification of precision industrial robots faces difficulties in the selection of measuring equipment. Studies have been conducted aimed at the formation of point light sources of small diameter. A non-contact measurement method based on obtaining an image of point light sources using a digital photo/video camera is proposed. Application of point light sources for calibration of measuring system is described. Possibilities of specification of positions of point sources by means of computer processing of the images received from the digital camera were investigated. The algorithm of image processing of the camera carrying out in several stages definition of accuracy of positioning of the manipulator of the robot is offered.Results. A remote, non-contact method for measuring the positioning errors of industrial robot manipulators has been developed. A method of assessing the positioning accuracy of industrial robot manipulators based on specially formed point light sources installed in the grips of the manipulators and in the working area of the robot. Implemented the use of digital photo/video cameras for monitoring and fixing the space of the resulting spread of the manipulator positions. The software processing the digital image and allowing to make calculations of an error of positioning is developed. The method makes it possible to effectively carry out large series of measurements and meets the following parameters: the absence of physical points of contact between the measuring system and the robot manipulator, satisfying the accuracy of measurements, ease of operation with measuring equipment, low cost of measuring equipment. The work was presented at the XLV International youth scientific conference Gagarin readings, MATI, Moscow, Russia, 2019. and was awarded a diploma. Conclusion. The article presents the results of research on the development of non-contact system of analysis and evaluation of positioning errors of precision industrial robots. The obtained results can be used for certification of industrial robots. It is possible to control the positioning accuracy of manipulators without removing the robot from the production process.
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Minami, Mamoru, Hiroshi Tanaka, and Yasushi Mae. "Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 2 (2007): 135–41. http://dx.doi.org/10.20965/jaciii.2007.p0135.
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We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.
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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 a working element along a turning radius with precise positioning at a given point in the working space. Electromechanical design of the manipulator allows to ensure transportation of production objects in accordance with a given technological process. For designing the technological process of transporting production objects, a software module has been developed that makes it possible to automate description of basic operations for movement of the robot manipulator working body with subsequent automatic generation of a command sequence for a control program ensuring operation of electric drives in manipulator links in real time. To speed up the process of designing trajectory of the working body, a spatial simulation model of a robot-manipulator in the MatLab-Simulink environment has been developed. The paper considers a generalized diagram of a mechatronic control system for a robot-manipulator based on the OMRON programmable logic controller operating under control of a program developed in the programming environment Sysmac Studio Automation. A program for a programmable terminal with interface elements and animation elements has been developed for industrial use of the mechatronic system during adjustment and operation period. The paper provides an appearance of a robot-manipulator prototype. The developed mechatronic system of the robot-manipulator can be technologically oriented towards solving other problems of industrial production.