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Journal articles on the topic 'Robot Manipulators'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Mustary, Shabnom, Mohammod Abul Kashem, Mohammad Asaduzzaman Chowdhury, and Jia Uddin. "A holistic approach of stability using material parameters of manipulators." IAES International Journal of Robotics and Automation (IJRA) 13, no. 4 (2024): 380. http://dx.doi.org/10.11591/ijra.v13i4.pp380-390.

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The demand for a comprehensive method to assess stability using manipulator material parameters is high. Various material parameters, such as the Young modulus, which represents stiffness, damping, and deflection, influence the material of the robot manipulator. The correlation between robot stability and these characteristics remains unclear, as prior studies have not yet examined the collective impact of these parameters on robot manipulators. This work considers two sophisticated manipulators, namely ABB and FANUC. The main objective of this research is to construct a stability model that c

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2

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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3

Raheem qasim, Kian, Yousif I. Al Mashhadany, and Esam T. Yassen. "An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application." Iraqi Journal for Computers and Informatics 49, no. 1 (2023): 66–83. http://dx.doi.org/10.25195/ijci.v49i1.405.

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With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced

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4

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

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5

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 fu

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6

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

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7

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 t

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8

Mustary, Shabnom, Kashem Mohammod Abul, Mohammad Asaduzzaman Chowdhury, and Jia Uddin. "A holistic approach of stability using material parameters of manipulators." IAES International Journal of Robotics and Automation 13, no. 4 (2024): 380–90. https://doi.org/10.11591/ijra.v13i4.pp380-390.

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The demand for a comprehensive method to assess stability using manipulator material parameters is high. Various material parameters, such as the Young modulus, which represents stiffness, damping, and deflection, influence the material of the robot manipulator. The correlation between robot stability and these characteristics remains unclear, as prior studies have not yet examined the collective impact of these parameters on robot manipulators. This work considers two sophisticated manipulators, namely ABB and FANUC. The main objective of this research is to construct a stability model that c

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9

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

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10

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

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11

Toledo Fuentes, Aishe, Franziska Kempf, Martin Kipfmüller, Tobias Bergmann, and Miguel J. Prieto. "Tip-Over Detection and Avoidance Algorithms as Stabilization Strategy for Small-Footprint and Lightweight Mobile Manipulators." Machines 11, no. 1 (2022): 44. http://dx.doi.org/10.3390/machines11010044.

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The risk of tip-over is a common problem in agile, lightweight mobile manipulators. An easy-to-implement and reliable stabilization strategy plays a key role for the wide operation of these highly dynamic systems in the industrial sector. This study addresses a method in which mobile manipulators independently detect instabilities and trigger countermeasures to prevent them from tilting. A tip-over detection algorithm was implemented based on the Moment Height Stability method, whose main advantage is the examination of all dynamical influences affecting the mobile manipulator to indicate how

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12

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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13

Özak, Bilal. "Fast Convergent Ali Baba and Forty Thieves Algorithm for Inverse Kinematic Solution of 7-DOF Robotic Manipulator." International Journal of Pioneering Technology and Engineering 2, no. 02 (2023): 181–87. http://dx.doi.org/10.56158/jpte.2023.58.2.02.

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Inverse kinematics is a crucial topic in robotics, enabling robots to calculate the joint angles required to achieve the desired end effector position and orientation. Solving the inverse kinematics problem quickly with high accuracy is vital for robot manipulators. If sufficient speed is provided, the real-time motion planning task of robot manipulators can be achieved. Real-time motion planning of complex robot manipulators is not possible with classical mathematical methods. Overcoming this problem will provide many benefits in the design and control of robot manipulators. In contemporary r

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14

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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15

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.

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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

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16

Nguyen, Hoai-Nhan, Phu-Nguyen Le, and Hee-Jun Kang. "A performance comparison of the full pose- and partial pose-based robot calibration for various types of robot manipulators." Advances in Mechanical Engineering 13, no. 9 (2021): 168781402110477. http://dx.doi.org/10.1177/16878140211047754.

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Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the calibration performance. This paper investigates the effects of measurement dimensions on robot calibration accuracy. It compares the resulting robot accuracies in both partial pose and full pose cases after calibrating three structural types of robot manipulators such as a serial manipulator (Hyundai HA-06 robot), a single closed-chain manipulator (Hy

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17

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

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

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18

Hyeung-Sik, Choi. "Modeling of robot manipulators working under the sea and the design of a robust controller." Robotica 14, no. 2 (1996): 213–18. http://dx.doi.org/10.1017/s0263574700019123.

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SUMMARYThis paper presents a study of the dynamics of undersea robot manipulators in an unstructured sea water environment and a control scheme appropriate for manipulating them. Under the sea, the buoyancy and the added mass should be considered in modeling the dynamics of the robot manipulators. However, due to the complexity of the modeling of the added mass, the dynamics of the robot manipulators are treated as an unmodeled dynamics in this paper. In addition to the buoyancy and added mass/moment of inertia, disturbing forces due to drag, and current affecting the dynamics of the robot man

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19

Wang, Xianlun, Qingsong Wu, Tianyu Wang, and Yuxia Cui. "A Path-Planning Method to Significantly Reduce Local Oscillation of Manipulators Based on Velocity Potential Field." Sensors 23, no. 23 (2023): 9617. http://dx.doi.org/10.3390/s23239617.

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The robotics industry and associated technology applications are a vital support for modern production and manufacturing. With the intelligent development of the manufacturing industry, the application of collaboration robots and human-robot collaboration technology is becoming more and more extensive. In a human-robot collaboration scenario, there are uncertainties such as dynamic impediments, especially in the human upper limb, which puts forward a higher assessment of the manipulator’s route planning technology. As one of the primary branches of the artificial potential field (APF), the vel

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20

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

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

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21

Fraile, J. C., J. Perez-Turiel, J. L. Gonzalez-Sanchez, E. Baeyens, and R. Perez. "Comparative analysis of collision-free path-planning methods for multi-manipulator systems." Robotica 24, no. 6 (2006): 711–26. http://dx.doi.org/10.1017/s0263574706002888.

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Motion planning for manipulators with many degrees of freedom is a complex task. The research in this area has been mostly restricted to static environments. This paper presents a comparative analysis of three reactive on-line path-planning methods for manipulators: the elastic-strip, strategy-based and potential field methods. Both the elastic-strip method [O. Brock and O. Khatib, “Elastic strips: A framework for integrated planning and execution,” Int. Symp. Exp. Robot. 245–254 (1999)] and the potential field method [O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots

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22

Zhou, Dongbo, Yura Aoyama, Hayato Takeyama, Kotaro Tadano, and Daisuke Haraguchi. "Automation of Intraoperative Tool Changing for Robot-Assisted Laparoscopic Surgery." Journal of Robotics and Mechatronics 34, no. 6 (2022): 1216–24. http://dx.doi.org/10.20965/jrm.2022.p1216.

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Intraoperative tool change is a time-consuming and labor-intensive task for robot-assisted laparoscopic surgery. Serial multi-DOF manipulators are potential devices for realizing automatic intraoperative tool changes because of the layout flexibility and motion range, and multi-DOF makes it feasible for the manipulator to access and fetch the surgical tools by itself. However, the direction of the trocar may change because of the soft abdomen, and the lack of a fixed RCM makes it difficult for manipulators to reinsert a new surgical tool through the trocar. This study proposes a system prototy

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23

Ibaraki, Soichi, and Andreas Archenti. "Special Issue on New Technologies for Robotic Manipulators and Their Industrial Applications." International Journal of Automation Technology 15, no. 5 (2021): 565–66. http://dx.doi.org/10.20965/ijat.2021.p0565.

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The industrial robot is more precisely an “automatically controlled, reprogrammable, multipurpose manipulator, programmable in three or more axes, which can be either fixed in place or mobile” (ISO 8373:2012). According to the International Federation of Robotics, by 2018, more than 400,000 new units were being installed annually, and the global average robot density in the manufacturing industry was 99 robots per 10,000 employees. More than 30% of all installed robots were in the automotive industry, the biggest customer for robots. Research on measuring and calibrating, modeling, programming

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24

Lopez-Franco, Carlos, Dario Diaz, Jesus Hernandez-Barragan, Nancy Arana-Daniel, and Michel Lopez-Franco. "A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators." Mathematics 10, no. 7 (2022): 1051. http://dx.doi.org/10.3390/math10071051.

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Due to the complexity of manipulator robots, the trajectory tracking task is very challenging. Most of the current algorithms depend on the robot structure or its number of degrees of freedom (DOF). Furthermore, the most popular methods use a Jacobian matrix that suffers from singularities. In this work, the authors propose a general method to solve the trajectory tracking of robot manipulators using metaheuristic optimization methods. The proposed method can be used to find the best joint configuration to minimize the end-effector position and orientation in 3D, for robots with any number of

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25

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.

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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

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26

Aviles, Oscar, Mauricio Felipe Mauledoux Monroy, and Oscar Rubiano. "Electronic Architecture for a Mobile Manipulator." International Journal of Online Engineering (iJOE) 14, no. 02 (2018): 133. http://dx.doi.org/10.3991/ijoe.v14i02.7672.

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A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile r

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27

Karger, A. "Singularity Analysis of Serial Robot-Manipulators." Journal of Mechanical Design 118, no. 4 (1996): 520–25. http://dx.doi.org/10.1115/1.2826922.

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This paper is devoted to the description of the set of all singular configurations of serial robot-manipulators. For 6 degrees of freedom serial robot-manipulators we have developed a theory which allows to describe higher order singularities. By using Lie algebra properties of the screw space we give an algorithm, which determines the degree of a singularity from the knowledge of the actual configuration of axes of the robot-manipulator only. The local shape of the singular set in a neighbourhood of a singular configuration can be determined as well. We also solve the problem of escapement fr

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28

Shaik, Himam Saheb. "Kinematic Analysis of 3-PRPPS Spatial Parallel Manipulator with Circularly Guided Base for Singularity-Free Robotic Motions." Journal of Engineering Sciences 11, no. 2 (2024): A30—A39. http://dx.doi.org/10.21272/jes.2024.11(2).a4.

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Robot manipulators are classified as serial manipulators and parallel manipulators. Parallel manipulators are classified into planar and spatial parallel manipulators (SPMs). The parallel manipulators have moved and fixed platforms connected with serial chains. The parallel manipulators have many linkages, which create a singularity problem. The singular positions of SPMs have also gained substantial attention in various industrial applications due to their intrinsic advantages in precision, flexibility, and load-bearing capabilities. The 3-PRPPS SPM has three prismatic joints, one spherical j

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Li, Zexin, Feng Xu, Dongsheng Guo, Pingjiang Wang, and Bo Yuan. "New P-type RMPC Scheme for Redundant Robot Manipulators in Noisy Environment." Robotica 38, no. 5 (2019): 775–86. http://dx.doi.org/10.1017/s0263574719001036.

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SUMMARYRepetitive motion planning and control (RMPC) is a significant issue in the research of redundant robot manipulators. Moreover, noise from rounding error, truncation error, and robot uncertainty is an important factor that greatly affects RMPC schemes. In this study, the RMPC of redundant robot manipulators in a noisy environment is investigated. By incorporating the proportional and integral information of the desired path, a new RMPC scheme with pseudoinverse-type (P-type) formulation is proposed. Such a P-type RMPC scheme possesses the suppression of constant and bounded time-varying

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30

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.

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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

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31

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.

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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

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

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

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Li, Xiaozheng, and Chongjing Cao. "A Multi-Posture Grasping Manipulator Actuated by Shape Memory Alloy with Different Functional Modules." Micromachines 15, no. 11 (2024): 1328. http://dx.doi.org/10.3390/mi15111328.

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Currently, multi-posture robots have complex grasping robotic manipulators with low power density, making it difficult to miniaturize and integrate. In this paper, a multi-posture grasping manipulator actuated by shape memory alloy with different functional modules is presented. It is composed of deflection, translation, rotation and grasping modules. Based on a D-H parameter method, the end motion trajectory model is established and the end motion space is drawn. Finally, the grasping experiment of a light circular object is carried out to verify the validity of the multi-posture grasping fun

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Petroka, R. P., and Liang-Wey Chang. "Experimental Validation of a Dynamic Model (Equivalent Rigid Link System) on a Single-Link Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 111, no. 4 (1989): 667–72. http://dx.doi.org/10.1115/1.3153111.

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Flexibility effects on robot manipulator design and control are typically ignored which is justified when large, bulky robotic mechanisms are moved at slow speeds. However, when increased speed and improved accuracy are desired in robot system performance it is necessary to consider flexible manipulators. This paper simulates the motion of a single-link, flexible manipulator using the Equivalent Rigid Link System (ERLS) dynamic model and experimentally validates the computer simulation results. Validation of the flexible manipulator dynamic model is necessary to ensure confidence of the model

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

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

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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.

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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

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Dehio, Niels, Joshua Smith, Dennis L. Wigand, Pouya Mohammadi, Michael Mistry, and Jochen J. Steil. "Enabling impedance-based physical human–multi–robot collaboration: Experiments with four torque-controlled manipulators." International Journal of Robotics Research 41, no. 1 (2021): 68–84. http://dx.doi.org/10.1177/02783649211053650.

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Robotics research into multi-robot systems so far has concentrated on implementing intelligent swarm behavior and contact-less human interaction. Studies of haptic or physical human-robot interaction, by contrast, have primarily focused on the assistance offered by a single robot. Consequently, our understanding of the physical interaction and the implicit communication through contact forces between a human and a team of multiple collaborative robots is limited. We here introduce the term Physical Human Multi-Robot Collaboration (PHMRC) to describe this more complex situation, which we consid

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Smith, Christian, and Henrik Christensen. "Robot manipulators." IEEE Robotics & Automation Magazine 16, no. 4 (2009): 75–83. http://dx.doi.org/10.1109/mra.2009.934825.

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Tsai, Ying-Kuan, and Kuei-Yuan Chan. "Investigation on the impact of nongeometric uncertainty in dynamic performance of serial and parallel robot manipulators." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 10 (2018): 3487–511. http://dx.doi.org/10.1177/0954406218815518.

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Uncertainty in robot manipulations is a fundamental source of inaccuracy. Most nongeometric uncertainties is caused by the mechanical components of robot manipulators such as gear transmission systems and joints. This study integrates existing uncertainty models for practical applications of both three-degrees-of-freedom serial robot and parallel robot (closed-loop 5R mechanism). We first review the literature on uncertainty and existing methods for improving the precision of robot manipulation. For existing methods for uncertainty modeling: (1) the mathematical model of a harmonic drive consi

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Delyová, Ingrid, Peter Frankovský, and Darina Hroncová. "KINEMATIC ANALYSIS OF THE INDUSTRIAL ROBOT EFFECTOR." Acta Mechatronica 6, no. 2 (2021): 25–28. http://dx.doi.org/10.22306/am.v6i2.76.

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The technical level of industrial robots and manipulators is rapidly increasing, thus supporting the expansion of their application space. The requirements of the industry are various special manipulations with objects, guiding the end effector of the robot along the prescribed trajectory at a given speed while maintaining the angular position and orientation of the object. The paper presents a survey of a robot with a kinematic scheme formed by an open kinematic chain with revolute joints.

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Lo´pez-Linares, S., A. Konno, and M. Uchiyama. "Vibration Controllability of 3D Flexible Manipulators." Journal of Dynamic Systems, Measurement, and Control 119, no. 2 (1997): 326–30. http://dx.doi.org/10.1115/1.2801258.

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Structural vibrations of flexible robots are not always fully controllable in all the workspace. In some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one-link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot. This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the cont

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Zhang, J., and J. Rastegar. "Micro/Macro or Link-Integrated Micro-actuator Manipulation—A Kinematics and Dynamics Perspective." Journal of Mechanical Design 129, no. 10 (2006): 1086–93. http://dx.doi.org/10.1115/1.2757193.

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Smart (active) materials based actuators, hereinafter called micro-actuators, have been shown to be well suited for the elimination of high harmonics in joint and/or end-effector motions of robot manipulators and in the reduction of actuator dynamic response requirements. Low harmonic joint and end-effector motions, as well as low actuator dynamic response requirements, are essential for a robot manipulator to achieve high operating speed and precision with minimal vibration and control problems. Micro-actuators may be positioned at the end-effector to obtain a micro- and macro-robot manipulat

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Huang, Jianfeng, Chengying Yang, and Jun Ye. "Nonlinear pd controllers with gravity compensation for robot manipulators." Cybernetics and Information Technologies 14, no. 1 (2014): 141–50. http://dx.doi.org/10.2478/cait-2014-0011.

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Abstract A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot dynamics and NPD controllers, is globally asymptotically stable in position control of robot manipulators. The comparison of the simulation experiments in the position control (the step response) of a robot manipulator with two degrees of freedom is also presented to illustrate that the NP

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Rokhim, Ismail, Nur Jamiludin Ramadhan, and Zainun Najakh. "CURe-Mi mobile manipulator robot for contact-less COVID-19 patients serving missions." IAES International Journal of Robotics and Automation (IJRA) 12, no. 3 (2023): 262. http://dx.doi.org/10.11591/ijra.v12i3.pp262-273.

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Since March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an emergency, medical personnel should avoid contact with COVID-19 patients. Mobile manipulators are a non-contact alternative to medical personnel for performing healthcare tasks such as distributing supplies to COVID-19-quarantined patients. In this study, patients use an Android application to order mobile manipulator robots, which include the Collaborative Manipulator Robot UR5e and the autonomous mobile robot MiR200 (abbreviated and referred to as CURe-Mi). The HTTP protocol is used for communicati

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Ismail, Rokhim, Jamiludin Ramadhan Nur, and Najakh Zainun. "CURe-Mi mobile manipulator robot for contact-less COVID-19 patients serving missions." IAES International Journal of Robotics and Automation (IJRA) 12, no. 3 (2023): 262–73. https://doi.org/10.11591/ijra.v12i3.pp262-273.

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Since March 2020, coronavirus disease (COVID-19) has become a major global concern. Even in an emergency, medical personnel should avoid contact with COVID-19 patients. Mobile manipulators are a non-contact alternative to medical personnel for performing healthcare tasks such as distributing supplies to COVID-19-quarantined patients. In this study, patients use an Android application to order mobile manipulator robots, which include the Collaborative Manipulator Robot UR5e and the autonomous mobile robot MiR200 (abbreviated and referred to as CURe-Mi). The HTTP protocol is used for communicati

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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.

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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

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Xing, Haoxin, Tiejun Li, and Jinyue Liu. "Working space planning for wheeled robot overturning stability." Journal of Physics: Conference Series 2842, no. 1 (2024): 012103. http://dx.doi.org/10.1088/1742-6596/2842/1/012103.

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Abstract Mobile manipulators have been widely used in the field of building construction. Typical features of construction robots include crossing various rugged terrains in construction sites, carrying heavy payloads, and performing tasks in a large workspace, which may lead to unstable posture or overturning. The tipping of the mobile manipulator, especially when carrying a payload, will cause danger to the surrounding environment and staff, leading to the termination of the task. The purpose of this study is to establish a real-time tipping prediction system, which can be used to avoid tipp

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Glozman, Daniel, and Moshe Shoham. "Novel 6-DOF parallel manipulator with large workspace." Robotica 27, no. 6 (2009): 891–95. http://dx.doi.org/10.1017/s0263574708005286.

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SUMMARYThe workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of the robot itself—which is not common in parallel robots. The inverse and forward kinematics of the robots are presented. The workspaces of the robots are compared to similar and well-known structur

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Zhao, Jiang Hai, Xiao Dong Ye, and Wen Huan Qian. "Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints." Applied Mechanics and Materials 461 (November 2013): 278–83. http://dx.doi.org/10.4028/www.scientific.net/amm.461.278.

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Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy

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Xu, Kai, Jiangran Zhao, and Xidian Zheng. "Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port." Robotica 33, no. 10 (2014): 2025–44. http://dx.doi.org/10.1017/s0263574714000976.

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SUMMARYMany recent developments of surgical robots focus on less invasive paradigms, such as laparoscopic SPA (Single Port Access) surgery, NOTES (Natural Orifice Translumenal Endoscopic Surgery), laryngoscopic MIS (Minimally Invasive Surgery), etc. A configuration similarity shared by these surgical robots is that two or more manipulators are inserted through one access port (a laparoscope, an endoscope, or a laryngoscope) for surgical interventions. However, upon designing such a surgical robot, the structure of the inserted manipulators has not been thoroughly explored based on evaluation o

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