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Dissertations / Theses on the topic 'Robot Manipulators'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Skumsnes, Bjørn Heber. "Teleoperation of Mobile Robot Manipulators." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18438.

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With ever cheaper and more versatile robots, the use of robotic systems in creases rapidly. Although robots are becoming more intelligent, the cognitive capabilities of humans can still not be matched. By combining the intelligence of a human operator with the strength, endurance and size of a robot, in addition to separating the robot and operator to avoid danger to the operator, the applications are innumerable. The use of an operator to remotely control a robot is often referred to as teleoperation.In a teleoperation system it is important to present the state of the robot and the remote en

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2

Rahim, Nabil A. "Adaptive control of robot manipulators." Thesis, University of Leeds, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329126.

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3

Kabganian, Mansour. "Switching adaptive control of robot manipulators." Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/10557.

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A switching adaptive-PD controller for the trajectory tracking problem of robotic manipulators subjected to large and abrupt changes of the system parameters is developed. The manipulator arm and the payload are considered, in the most general form, to have a highly nonlinear dynamical model with unknown or partially known parameters. A switching controller is proposed to give the system the ability to deal with abrupt and large changes of parameters. The proposed control system is comprised of two different schemes called, in this thesis, the low-level and the high-level controllers. The high

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4

Nath, Nitendra. "Nonlinear control techniques for robot manipulators." Connect to this title online, 2006. http://etd.lib.clemson.edu/documents/1173994815/.

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5

Kalaycioglu, Banu. "Control of coordinated multiple robot manipulators." Thesis, McGill University, 1991. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61095.

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This thesis investigates the issues of dynamical modelling, control and load distribution for coordinated multiple robot manipulators. An analysis of the load distribution problem for k coordinating robots handling a single payload is carried out and an optimal load sharing algorithm is developed. The algorithm calculates the minimum norms of the joint torques and the contact forces. The algorithm is based on an optimization scheme which minimizes a quadratic cost function associated with the joint torques and contact force vectors for the coordinating robot arms with the constraint of robot e

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6

Bekit, Biniam Weldai. "Robust nonlinear control of robot manipulators." Thesis, King's College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.321945.

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7

Skoglund, Alexander. "Programming by demonstration of robot manipulators." Doctoral thesis, Örebro : Örebro University, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-6570.

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8

Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.

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9

Liu, Guanfeng. "Synthesis of dextrous manipulation by multifingered robotic hands /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LIU.

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10

Pluzhnikov, Sergey. "Motion Planning and Control of Robot Manipulators." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18437.

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When a robot performs a task in an unstructured dynamic environment, it has to account for many factors. It should not only keep the track of where it is and how it should move, but also ensure that the kinematic, dynamic and task specific limitations are observed. It is also important that the robot can effectively avoid collisions with static and moving obstacles. In the current thesis we present design and implementation of an algorithm capable to face all these challenges. The system combines principles of dynamic roadmaps and elastic roadmaps frameworks, both of which are the state-of-art

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11

Kang, Hoon. "Intelligent/adaptive control strategies for robot manipulators." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/13882.

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12

Dawson, Darren. "Uncertainties in the control of robot manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15737.

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13

Osman, Johari Halim Shah. "Decentralized and hierarchical control of robot manipulators." Thesis, City University London, 1991. http://openaccess.city.ac.uk/7758/.

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This thesis deals with the decentralized and hierarchical control of a class of robot manipulators, where the robot manipulator is treated as a large scale uncertain system. The work is divided into three parts. The first part is concerned with the development of an integrated mathematical model of the robot manipulator. The model of the system considered comprises the mechanical part of the robot manipulator, the actuators, as well as the gear trains. The formulation results in nonlinear time varying state equations, which represent a more realistic model of the robotic system. A procedure to

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14

Pilati, Matteo. "Motion planning techniques for parallel robot manipulators." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2012. http://amslaurea.unibo.it/4816/.

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15

Thatcher, Terence W. "Control system architectures for distributed manipulators and modular robots." Thesis, Loughborough University, 1987. https://dspace.lboro.ac.uk/2134/12467.

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This thesis outlines the evolution of computer hardware and software architectures which are suitable for the programming and control of modular robots and distributed manipulators. Fundamental aspects of automating manufacturing functions are considered and the use of flexible machines, constructed from components of a family of mechanical modules and associated control system elements, are proposed. Many of the features of these flexible machines can be identified with those of conventional industrial robots. However a broader class of manufacturing machine is represented in as much as the i

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16

Gu, Lifang. "Visual guidance of robot motion." University of Western Australia. Dept. of Computer Science, 1996. http://theses.library.uwa.edu.au/adt-WU2003.0004.

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Future robots are expected to cooperate with humans in daily activities. Efficient cooperation requires new techniques for transferring human skills to robots. This thesis presents an approach on how a robot can extract and replicate a motion by observing how a human instructor conducts it. In this way, the robot can be taught without any explicit instructions and the human instructor does not need any expertise in robot programming. A system has been implemented which consists of two main parts. The first part is data acquisition and motion extraction. Vision is the most important sens

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17

Meguenani, Anis. "Safe control of robotic manipulators in dynamic contexts." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066420/document.

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L'objectif de cette thèse est d'explorer de nouvelles approches pour le développement de systèmes robotiques capables de partager en toute sécurité leur espace de travail avec des opérateurs humains. Dans ce contexte, le travail présenté est axé principalement sur la problématique de commande. Les questions suivantes sont abordées:- pour des lois de contrôle réactives, c'est-à-dire des problèmes de commande où la tâche à exécuter n'est pas connue à l'avance mais découverte en temps réel, comment est-il possible de garantir à chaque pâs de temps l'existence d'une solution au problème de contrôl

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18

Fikkan, Kristoffer. "Hybrid Force Motion Synchronization Control of Robot Manipulators." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9123.

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<p>The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused by the environment is presented, and this leads to a straightforward way to separate the interactio

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19

Bjerkeng, Magnus Christian. "Coordinated Control with Obstacle Avoidance for Robot Manipulators." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9124.

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<p>This thesis addresses the problem of robot synchronization with obstacle avoidance. While these two fields have been studied extensively on their own, they have not yet been considered together as one problem. This thesis is divided roughly into four parts which are to some extent self contained. The theory is presented in a narrative that culminates with the stability proof of the proposed controller. Examples and figures are used in order to keep the material manageable and readable. The introductory part of the thesis consists of chapters 1 and 2. We present the notation and some mathema

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20

Iliev, Boyko. "Minimum-time sliding mode control of robot manipulators /." Örebro : Örebro univ.-bibl, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-53.

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21

Vernon, G. W. "Motion design, control and implementation in robot manipulators." Thesis, Liverpool John Moores University, 1988. http://researchonline.ljmu.ac.uk/5594/.

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The dynamic performance of robots, specifically the tracking accuracy and motion duration, is influenced by both the nominal motion profile and the feedback control method employed. Three schemes are developed and experimentally tested to tackle the improvement of dynamic performance, in the absence of accurate dynamic models. Model Referenced Adaptive Controller Schemes (MRACS) can be designed to facilitate the characterisation of otherwise complex system dynamics. In one scheme an MRACS is used to force the robot to behave as if it were linear and decoupled, enabling simple model based dynam

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22

Yu, Hongnian. "Modelling and robust adaptive control of robot manipulators." Thesis, King's College London (University of London), 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.720361.

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23

Quinn, Andrew W. "Motion planning for manipulators using distributed search." Thesis, Heriot-Watt University, 1993. http://hdl.handle.net/10399/1439.

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24

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.

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25

Marchand, Pauline Anne. "Simulation and adaptive control of a robot arm." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25118.

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The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dy

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26

Kang, Yong-Ho. "Adaptive control via genetic algorithms : theory and application." Thesis, University of Reading, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.308023.

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27

Sezgin, Umit. "Utilization of manipulator redundancies for collision avoidance strategies." Thesis, King's College London (University of London), 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.283521.

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28

Holden, Ray Lanier. "A braced end effector for a flexible robot manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/16736.

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29

Call, Anson Jay. "Dynamic modeling and simulation of a snake-like robot." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/19523.

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30

Han, X. "Variable structure control of robot manipulators with computational efficiency." Thesis, University of Cambridge, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.603641.

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Variable structure control is a kind of nonlinear control with discontinuous input. The control input switches from one value to another according to the system states. Its usefulness of robotic control is the existence of the switching surface, since once the system states are sliding on the switching surface, the control is insensitive to the parameter uncertainty and external disturbances. The application of variable structure control for robot manipulators has experienced several stages. Most efforts have been to make this control method practically more applicable to robotics control prob

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31

HAO, LEI. "Advanced Dynamic Model and Analysis of Serial Robot Manipulators." Doctoral thesis, Università degli studi di Brescia, 2021. http://hdl.handle.net/11379/550300.

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32

Chang, Wei-Chieh. "Transputer-based robot controller /." Online version of thesis, 1990. http://hdl.handle.net/1850/11557.

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33

Anderson, Karen 1959. "Inverse kinematics of robot manipulators in the presence of singularities and redundancies." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66208.

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34

Rajasekharan, Sabarinath. "The decomposition of multi robot systems : a human motor control perspective." Thesis, University of Reading, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.269653.

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35

余永康 and Wing-hong William Yu. "On application of vision and manipulator with redunduncy to automatic locating and handling of objects." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1989. http://hub.hku.hk/bib/B31232073.

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36

Yu, Wing-hong William. "On application of vision and manipulator with redunduncy to automatic locating and handling of objects /." [Hong Kong] : University of Hong Kong, 1989. http://sunzi.lib.hku.hk/hkuto/record.jsp?B1275142X.

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37

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.

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38

Ma, Donghai. "Autonomous torque sensor calibration and gravity compensation for robot manipulators." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=23748.

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This thesis addresses calibration of joint torque sensors and identification of a gravity compensation (GComp) model. The two problems are related: calibrated torque information is prerequisite for the GComp model identification; the identified GComp model makes on-line automatic torque sensor calibration possible.<br>In the first part, we propose an autonomous joint torque sensor calibration method, which utilizes combinations of single-joint rotations and an arm's own gravity load. The method determines not only joint torque sensor gains and offsets, but also those of the joint angle sensors

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39

沈向洋 and Heung-yeung Shum. "Adaptive motion and force control of robot manipulators with uncertainties." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1990. http://hub.hku.hk/bib/B3120997X.

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40

Saddique, Syed Mohammad. "Fine-tuned QFT controller design and applications to robot manipulators." Thesis, University of Newcastle Upon Tyne, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.238867.

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41

Karakasoglu, Ahmet. "Neural network-based approaches to controller design for robot manipulators." Diss., The University of Arizona, 1991. http://hdl.handle.net/10150/185612.

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This dissertation is concerned with the development of neural network-based methods to the control of robot manipulators and focusses on three different approaches for this purpose. In the first approach, an implementation of an intelligent adaptive control strategy in the execution of complex trajectory tracking tasks by using multilayer neural networks is demonstrated by exploiting the pattern classification capability of these nets. The network training is provided by a rule-based controller which is programmed to switch an appropriate adaptive control algorithm for each component type of m

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42

Liao, Chen-Fong, and 廖宸豐. "Manipulatory Interfce for Industrial Robot Manipulators Based on Augmented Reality." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/9k2w5x.

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碩士<br>國立交通大學<br>電控工程研究所<br>105<br>Along with the development in robot technologies, more robots have been introduced for industry automation. Currently, teaching pendent and computer are used for task planning, but they take much time for manipulation. To improve the performance of manipulation and reduce the burden of the user, intuitive manipulation and friendly human-robot interface are demanded. The proposed interface is based on Android platform and implemented on a tablet PC using augmented reality technics. We improve the visual lead-through manipulation developed previously and provide

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43

Wang, Wen-Ling, and 汪玟伶. "Manipulatory Interface Design for Industrial Robot Manipulators Based on 3D Information." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/96e8kg.

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碩士<br>國立交通大學<br>電控工程研究所<br>105<br>Along with the development in robot technologies, many robots have been introduced to execute automated production. As current robot tasks become much more complicated, it is imperative to provide intuitive manipulation to reduce the burden of the worker. The teaching pendent and computer are commonly used for task planning, which take much time during their manipulation. To improve the performance in manipulation, a friendly human-robot interface is demanded. The proposed interface is based on Android platform and implemented on a tablet PC. To deal with the

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44

Lee, Cheng C., and 李政慶. "VSC Design for Robot Manipulators." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/37914463915358380506.

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碩士<br>元智大學<br>電機工程研究所<br>89<br>The primary purpose of this paper is the introduction of a table look-up variable structure control method and the application of this method to a nonlinear time-varying two-links robotic manipulator. This method establishes tables separately for each of the two links on the robotic manipulator, and then finds the corresponding control power for different angles of each arms. The advantage of this design is to lower the level of calculation complexity. Related simulations are attached to prove the validity of the method.

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45

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

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46

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

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47

Hsu, Su-Hau. "Adaptive decentralized control of robot manipulators." 2004. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0001-2607200403202100.

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48

Al-Ashoor, Raad A. "Robust adaptive control of robot manipulators." Thesis, 1990. http://spectrum.library.concordia.ca/4143/1/NL56096.pdf.

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49

Wang, Ching-Hsuan, and 王景玄. "Intelligent Control of Constrained Robot Manipulators." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/02833005706121203432.

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碩士<br>國立成功大學<br>機械工程學系<br>89<br>Robot manipulators can only be fully utilized when applied to constrained maneuvers. In constrained maneuvers, the interaction force must be accommodated rather than withstood. This thesis proposes a novel control structure in operational space, in which an impedance control scheme is used to create compliant motion. Based on the proposed control structure, neural networks are applied to approximate the function of a certain part of the manipulator dynamics. Instead of needing any dynamic model of the robot manipulator or the environment, the resulting control s

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50

Hsu, Su-Hau, and 許書豪. "Adaptive decentralized control of robot manipulators." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/65139544773239706761.

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博士<br>國立臺灣大學<br>電機工程學研究所<br>92<br>In this thesis, a new approach of fully adaptive decentralized control is proposed for different tasks of robot manipulators. Since the proposed approach operates in a de-centralized manner, it is structurally simple such that only low-level hardware is re-quired in actual implementation. Because the adaptive mechanism is employed in the decentralized control scheme, the control performance could be guaranteed even if there is any parametric uncertainty in the robot manipulators systems. As a result, the proposed approach is very convenient for practical appli

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