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Dissertations / Theses on the topic 'Robotic manipulator modeling'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Trutter, H. Benjamin. "A Finite Element Method for Linear Modeling and Control of a Single Flexible Link Robotic Manipulator." Thesis, Southern Illinois University at Edwardsville, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1560924.

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<p> A linear finite element procedure is presented for modeling a single flexible link robotic manipulator system. The model takes into consideration the DC motor, torsional springs/dampers, cantilever beam and the accelerometer at the tip. The finite element method for system modeling is validated through comparison to experimental data using the frequency response. With a validated model for the system, feedback control is implemented for vibration reduction and accurate positioning of the beam tip. The accuracy of the controlled model is compared to experiment and a discrete time transfe

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2

Giantomassi, Andrea. "Modeling, estimation and identification of complex system dynamics: issues and solutions." Doctoral thesis, Università Politecnica delle Marche, 2012. http://hdl.handle.net/11566/242023.

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La modellazione dei sistemi è di fondamentale importanza in tutte le discipline, sono utili per l’analisi, la previsione o la simulazione dei sistemi. Esistono due pratiche per definire modelli: modellazione e di identificazione. La modellazione è basata su leggi note. L’identificazione consiste nella selezione di un modello sulla base delle osservazioni effettuate sul sistema. In questo lavoro si è dato un contributo all’identificazione e stima di dinamiche complesse di sistemi. Con attenzione ai sistemi reali, sono proposte tre soluzioni. Il primo argomento riguarda un inceneritore pe

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3

BRILLARELLI, STEFANO. "Elasto-dynamic modeling of a parallel kinematic robot with flexible links." Doctoral thesis, Università Politecnica delle Marche, 2022. http://hdl.handle.net/11566/295530.

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Il settore industriale negli ultimi anni sta vivendo una radicale trasformazione legata alle nuove esigenze del mercato. In risposta a queste ultime, la robotica sta proponendo da una parte soluzioni collaborative in modo da rendere più rapida l'installazione dei robot semplificandone la programmazione e la messa in opera e consentendo una interazione uomo-macchina, dall'altra sta affinando le prestazioni dei robot più propriamente industriali in modo da renderli sempre più veloci e accurati. In questo secondo ambito, la versatilità e la rapidità di risposta al mercato richiesta ai produttori

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4

Abderrahim, Mohamed. "Modelling of robotic manipulators." Thesis, University of Glasgow, 1996. http://theses.gla.ac.uk/2151/.

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This thesis explores the different aspects of robotic manipulator modelling and covers both the dynamic and the kinematic issues for the purpose of improving the overall manipulator accuracy. It is shown that the modelling should not stop at producing the model, but rather the model should be validated. The thesis presents a description of the modelling process and examines the three most important formulations for dynamic modelling. A comparison of their performance and ease of use is made, both for manual and computer assisted implementation. Three commercial computer modelling packages are

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5

Shi, Pingnan. "Robotic manipulator modelling and control." Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/26737.

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In this thesis, a special control strategy is proposed which treats manipulators as a unique class of systems with their own unique characteristics. The objectives of proposing the control strategy are to obtain 1) no or tolerable overshoot; 2) smaller settling time; and 3) higher accuracy. Two two-link manipulators and one three-link manipulator were simulated and controlled by the proposed control strategy. The results are provided in the thesis. The proposed control strategy has the structure of local and global control. The local control takes care of the links. Its objective is to drive

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6

Vizins, Kim. "Modeling and Control of Dual Arm Robotic Manipulators." Thesis, KTH, Reglerteknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-55975.

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In this thesis, navigation control of multi-agent systems is studied. In particular, the problem statement is based on the application of multi-agent systems' techniques to the control of dual arm robotic manipulators. The thesis is divided into two separate subproblems: the rst one considers decentralized navigation control of a non-holonomic two-agent system with collision avoidance, corresponding to the end eectors of the robotic arms. For this problem, two controllers were found for which the analysis showed stability and convergence to an arbitrarily small region around the desired destin

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7

Fahmy, A. A. "Neuro-fuzzy modelling and control of robotic manipulators." Thesis, Cardiff University, 2005. http://orca.cf.ac.uk/55979/.

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The work reported in this thesis aims to design and develop a new neuro-fuzzy control system for robotic manipulators using Machine Learning Techniques, Fuzzy Logic Controllers, and Fuzzy Neural Networks. The main idea is to integrate these intelligent techniques to develop an adaptive position controller for robotic manipulators. This will finally lead to utilising one or two coordinated manipulators to perform upper-limb rehabilitation. The main target is to benefit from these intelligent techniques in a systematic way that leads to an efficient control and coordination system. The suggested

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8

Moberg, Stig. "On Modeling and Control of Flexible Manipulators." Licentiate thesis, Linköping University, Linköping University, Automatic Control, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10463.

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

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9

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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10

Wronka, Cyprian M. "Modelling and control of a robotic manipulator subject to base disturbances." Thesis, Heriot-Watt University, 2010. http://hdl.handle.net/10399/2335.

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This thesis presents the modelling and control of a high gear ratio robotic manipulator mounted on a heavier moving base which is subject to base disturbances. The manipulator motion is assumed not to affect the base motion. The problem of a robotic manipulator on a non-inertial base can be applied to operation on sea vessels or all-terrain vehicles, where the base motion is unknown and cannot be used as a feed-forward signal to the model. A dynamic model is derived for the PA10-6CE manipulator with the assumption of a fixed base and the model terms are analysed numerically when comparing the

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11

Wang, Zhifeng. "Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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With the development of materials science, deformable material objects are used in more andmore fields. Handling of deformable soft objects can be found in many industrial fields includingfood industry and recycle industry. But deformable objects are different from rigid objects. Thereis still room for development of material control, in which the use of computers to simulate controlplays an important role. In this thesis, a physical model of the cable is established based ongeometrically exact dynamic splines, and the simulink of matlab is used to develop the model ofthe c

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12

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

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13

Pessu, Ruth A. "Intelligent modelling and control of a flexible link manipulator." Thesis, University of Wolverhampton, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.307841.

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14

Escande, Coralie. "Towards modeling of a class of bionic manipulator robots." Thesis, Lille 1, 2013. http://www.theses.fr/2013LIL10171/document.

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Ce travail concerne une catégorie de robot mobile manipulateur omnidirectionnel bionique, en l’occurence le RobotinoXT qui dispose d’un manipulateur bionique CBHA monté sur un robot mobile omnidirectionnel, nommée Robotino. D’abord, nous avons proposé un modèle cinématique direct de ce système en utilisant une méthode nommée « arc geometry ». Celle-ci a été validée grâce à un banc d’expérimentation en ayant recours à une technique de trilatération. Pour atteindre cet objectif, les capteurs ont été calibrés. Concernant le problème de calibration des paramètres constants du modèle, il a été réso

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15

Swain, Anjan Kumar. "Dynamic modelling and control of robotic manipulators with an investigation of evolutionary computation methods." Thesis, University of Sheffield, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.341801.

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16

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

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

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17

Amin, Shamsudin Haji Mohd. "Modelling, simulation and adaptive control of rigid and flexible robot manipulators." Thesis, University of Sheffield, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.333243.

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18

Rosales, PenÌƒa Alfaro Eric Manuel. "Inverse kinematics modelling and control of robotic manipulators with high degrees of freedom." Thesis, University of Essex, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.421153.

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19

Long, Philip. "Contributions to the modeling and control of cooperative manipulators." Ecole Centrale de Nantes, 2015. http://www.theses.fr/2014ECDN0024.

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20

Marullo, Sara. "Modelling and Controlling Soft Interactions." Doctoral thesis, Università di Siena, 2022. http://hdl.handle.net/11365/1196028.

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Compliance is a key factor during physical interactions between agents and objects, allowing delicate and robust manipulation. Such a compliance can reside in human and robotic hands, as well as in objects present in the environment. This Thesis arose from the quest for mechanical conditions fostering object manipulation, and shaped as an investigation on techniques to model and control the compliance in soft interactions. Human and robotic hands are considered, functional and biomechanical models are discussed, devised and validated. To deal with unpredictable configurations assumed by intrin

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21

Niglis, Anton, and Per Öberg. "Modelling High-Fidelity Robot Dynamics." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119640.

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The field of robotics is in continuous development. Driving forces for the development are higher demands on robot accuracy and being more cost effective in the development process. To reduce costs, product development is moving towards virtual prototyping to enable early analysis and testing. This process demands realistic models and modelling is therefore of utmost importance. In the process of modelling high fidelity robot dynamics many different physical aspects have to be taken into account. Phenomena studied in this thesis stretch from where to introduce flexibilities, mechanical and dyn

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22

Klimchik, Alexandr. "Enhanced stiffness modeling of serial and parallel manipulators for robotic-based processing of high performance materials." Phd thesis, Ecole centrale de nantes - ECN, 2011. http://tel.archives-ouvertes.fr/tel-00711978.

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Les travaux présentés dans cette thèse portent sur l'amélioration des modèles de raideur pour les robots sériels et parallèles possédant des articulations passives. Contrairement aux travaux précédents, la raideur du robot est évaluée en présence de chargement en vérifiant les équations d'équilibre du système. Cette modélisation prend en compte les chargements externes ainsi que les pré-charges internes et des charges distribuées comme les forces dues à la gravité. Il est ainsi possible d'écrire la relation entre la charge et le déplacement de l'effecteur en tout point de l'espace de travail e

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23

Levin, Patrik, and Daniel Mofors. "Modelling of Mechanical Flexibilities in Robotic Manipulators and Evaluation of Their Impact on Motion Performance." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200841.

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In order to achieve the best robot performance, the exibilities in the mechanical structures of a robot manipulator needs to be modelled and compensated for, when designing a controller. By examining how each flexible component contribute to the overall dynamic performance, the robot's mechanical design can be altered to optimised performance and minimise cost. In this report, mechanical properties of gearboxes and links are investigated andtheir impact on robot performance examined. Different modelling approaches are presented for these components. A nite-element model of the link arm is redu

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24

Bayram, Atilla. "Modeling And Control Of A Hyper Redundant Manipulator." Phd thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/3/12611653/index.pdf.

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The hyper redundant manipulators (HRMs) have excessively large degrees of freedom. As a special but practicable subset, the binary HRMs use binary (on-off) actuators with only two stable states such as pneumatic cylinders and solenoids. Such actuators are simple, cheap, and easy to control. Therefore, a binary HRM has been studied in this thesis. The thesis work covers the conceptual design of a spatial binary HRM together with its controlled motion simulations. The manipulator consists of many modules, each of which has the same constructive characteristics and consists of three submodules wh

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25

Hasan, Md Rakibul. "Modelling and interactional control of a multi-fingered robotic hand for grasping and manipulation." Thesis, Queen Mary, University of London, 2014. http://qmro.qmul.ac.uk/xmlui/handle/123456789/8941.

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In this thesis, the synthesis of a grasping and manipulation controller of the Barrett hand, which is an archetypal example of a multi-fingered robotic hand, is investigated in some detail. This synthesis involves not only the dynamic modelling of the robotic hand but also the control of the joint and workspace dynamics as well as the interaction of the hand with object it is grasping and the environment it is operating in. Grasping and manipulation of an object by a robotic hand is always challenging due to the uncertainties, associated with non-linearities of the robot dynamics, unknown loca

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26

Klimchik, Alexandr. "Enhanced stiffness modelling of serial and parallel manipulators for robotic-based processing of high performance materials." Ecole centrale de Nantes, 2011. http://www.theses.fr/2011ECDN0034.

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Les travaux présentés dans cette thèse portent sur l’amélioration des modèles de raideur pour les robots sériels etparallèles possédant des articulations passives. Contrairement aux travaux précédents, la raideur du robot est évaluée en présence de chargement en vérifiant les équations d’équilibre du système. Cette modélisation prend en compte les chargements externes ainsi que les pré-charges internes et des charges distribuées comme les forces dues à la gravité. Il est ainsi possible d’écrire la relation entre la charge et le déplacement de l’effecteur en tout point de l’espace de travail et

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27

Korkmaz, Ozan. "Modeling And Control Of Autonomous Underwater Vehicle Manipulator Systems." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12615051/index.pdf.

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In this thesis, dynamic modeling and nonlinear control of autonomous underwater vehicle manipulator systems are presented. Mainly, two types of systems consisting of a 6-DOF AUV equipped with a 6-DOF manipulator subsystem (UVMS) and with an 8-DOF redundant manipulator subsystem (UVRMS) are modeled considering hydrostatic forces and hydrodynamic effects such as added mass, lift, drag and side forces. The shadowing effects of the bodies on each other are introduced when computing the hydrodynamic forces. The system equations of motion are derived recursively using Newton&ndash<br>Euler formulati

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Valencia, Angel. "3D Shape Deformation Measurement and Dynamic Representation for Non-Rigid Objects under Manipulation." Thesis, Université d'Ottawa / University of Ottawa, 2020. http://hdl.handle.net/10393/40718.

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Dexterous robotic manipulation of non-rigid objects is a challenging problem but necessary to explore as robots are increasingly interacting with more complex environments in which such objects are frequently present. In particular, common manipulation tasks such as molding clay to a target shape or picking fruits and vegetables for use in the kitchen, require a high-level understanding of the scene and objects. Commonly, the behavior of non-rigid objects is described by a model. Although, well-established modeling techniques are difficult to apply in robotic tasks since objects and their pr

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Sosseh, Raye Abdoulie. "Finite element torque modeling and backstepping control of a spherical motor." Diss., Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17695.

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30

Leborne, François. "Contributions à la commande de bras manipulateurs de robot sous-marin pour la manipulation à grande profondeur d'échantillons biologiques déformables." Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS044/document.

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Dans le cadre de la collecte sous-marine d'échantillons biologiques et minéraux pour la recherche scientifique par un robot sous-marin équipé de bras manipulateurs, ce projet de thèse a pour but principal le développement de nouvelles techniques de manipulation des échantillons, plus fiables, permettant d'en assurer l'intégrité physique et leur exploitabilité par les chercheurs. Les nouvelles techniques de manipulation proposées prennent en compte l'actionnement particulier des nouveaux bras électriques sous-marins équipant les engins récents, afin d'augmenter la précision du positionnement de

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Morales, Bieze Thor. "Contribution to the kinematic modeling and control of soft manipulators using computational mechanics." Thesis, Lille 1, 2017. http://www.theses.fr/2017LIL10112/document.

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Ce travail apporte de nouvelles méthodes pour la modélisation cinématique et le contrôle de manipulateurs continus et déformables, fondées sur la méthodes des éléments finis. À la différence des manipulateurs rigides, les manipulateurs continus et déformables engendrent leurs mouvements en se déformant, c'est pourquoi la méthode proposée prend en compte les déformations mécaniques pour mieux décrire la cinématique de ce genre de robots. Cette méthode n'apporte pas de solution analytique, mais une approximation numérique, par des méthodes dérivées de la mécanique numérique. La méthodologie est

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Melingui, Achille. "Modeling and control of a class of mobile omnidrive : Continuum manipulator robots, case of study Robotino XT." Thesis, Lille 1, 2014. http://www.theses.fr/2014LIL10072/document.

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Cette thèse s'intéresse à la modélisation et la commande d'une classe des manipulateurs mobiles continus, a savoir le Robotino XT. Ce dernier comporte un manipulateur bionique continu montée sur une plate-forme mobile omnidirectionnel appelée Robotino. Premièrement, en utilisant la logique floue de type-2 et le champ de potentiel artificiel, nous avons proposé un contrôleur hybride intelligent pour la navigation de la plate-forme mobile. Ensuite, une architecture de commande adaptative neuronale a été proposée pour le contrôle de la partie manipulatrice. Cette architecture comporte deux sous-c

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Hosoe, Shigeyuki, Yoshikazu Hayakawa, and Zakarya Zyada. "Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms." International Federation of Automatic Control (IFAC), 2011. http://hdl.handle.net/2237/20767.

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Silva, Neto Aurelio Moreira da [UNESP]. "Modelagem e simulação das juntas de um manipulador robótico cilíndrico." Universidade Estadual Paulista (UNESP), 2008. http://hdl.handle.net/11449/97060.

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Made available in DSpace on 2014-06-11T19:28:33Z (GMT). No. of bitstreams: 0 Previous issue date: 2008-12-16Bitstream added on 2014-06-13T20:37:37Z : No. of bitstreams: 1 silvaneto_am_me_guara.pdf: 692597 bytes, checksum: 5f3caf79f195676ad932f7c214821ffc (MD5)<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)<br>O estudo de um modelo matemático completo, incluindo os servos atuadores, a dinâmica do corpo rígido e o planejamento e geração de trajetórias do manipulador robótico cilíndrico, é um indispensável ponto de partida para aplicações de simulação das juntas e contro

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Ben, abdallah Fida. "Modeling and control of a cabel driven parallel manipulator suspended by a heavy lift airship." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLE009/document.

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A l'heure où le monde entier appelle à développer de nouvelles technologies de transport afin de faire face au défi écologique, des projets de dirigeables gros porteurs permettent de relever ce défi. En outre, les dernières avancées technologiques dans le domaine de l'aérospatiale ont permis de résoudre un certain nombre de problèmes responsables de l'hibernation des grands dirigeables pendant plus d'un demi-siècle. Ceci a donné naissance à de nouveaux types de dirigeables gros porteurs. Dans cette thèse, le modèle dynamique du dirigeable gros porteur est défini afin de concevoir un contrôleur

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Almeida, Rynaldo Zanotele Hemerly de. "Modelagem dinâmica e controle de robô manipulador de arquitetura paralela assimétrica de três graus de liberdade." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/3/3151/tde-19092014-113652/.

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Este trabalho trata da modelagem dinâmica e do projeto de sistemas de controle para um robô manipulador de arquitetura paralela assimétrica de três graus de liberdade, correspondente a três translações de seu efetuador no espaço tridimensional, concebido para tarefas de pega-e-põe (pick-and-place). Dentre os desenvolvimentos teóricos, procurou-se estender, para toda gama de robôs paralelos e topologicamente assimétricos, a abrangência dos procedimentos aplicados inicialmente a este caso específico. Foram empregados o Método de Lagrange e o Princípio dos Trabalhos Virtuais na obtenção de modelo

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Lara, Molina Fabian Andres. "Ambiente de simulação de manipuladores paralelos : modelagem, simulação e controle de uma plataforma Stewart." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265016.

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Orientador: João Mauricio Rosario<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-12T18:15:19Z (GMT). No. of bitstreams: 1 LaraMolina_FabianAndres_M.pdf: 3777126 bytes, checksum: 5d2bb864ea5a4dc9fb76ddeeeb83c38f (MD5) Previous issue date: 2008<br>Resumo: O presente trabalho recopila e aplica conceitos concernentes à modelagem dos manipuladores paralelos, desta maneira é proposta um ambiente de simulação para manipuladores paralelos aplicada à Plataforma Stewart. O manipulador paralelo de seis graus de libe

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Yu, Zhan Qing. "Detection de collision en robotique." Nantes, 1987. http://www.theses.fr/1987NANT2058.

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Modelisation du robot et de son environnement grace a des primitives simples. Utilisation d'une tabulation qui indique les zones ou le robot se trouve sans intersection avec les obstacles et les zones a risques pour lesquelles une collision est possible, ceci en vue d'accelerer le calcul de detection de collision

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Lakhal, Othman. "Contribution to the modeling and control of hyper-redundant robots : application to additive manufacturing in the construction." Thesis, Lille 1, 2018. http://www.theses.fr/2018LIL1I061/document.

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La technologie de fabrication additive a été identifiée comme l'une des innovations numériques majeures qui a révolutionné non seulement le domaine de l'industrie, mais aussi celui de la construction. D'un point de vue de recherche, la fabrication additive reste un sujet d’actualité. C’est un procédé automatisé de dépôt de matériaux couche par couche afin d'imprimer des maisons ou des structures de petites dimensions pour un montage sur site. Dans la fabrication additive, l'étape de dépôt des matériaux est généralement suivie d'une étape de contrôle de la qualité d'impression. Cependant, le co

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Lebrón, García Rodrigo Manuel. "Controle de um manipulador plataforma de Stewart com atuadores hidráulicos como simulador de movimentos de navios." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2015. http://hdl.handle.net/10183/127904.

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A Plataforma de Stewart é um dos exemplos mais populares dos manipuladores do tipo paralelo, disponibilizando 6 graus de liberdade, apresentando ao mesmo tempo propriedades superiores de precisão e relação peso/carga, quando comparadas com mecanismos do tipo serial, o que a converte em uma opção atrativa para ser aplicada como simulador de movimentos. Neste contexto, o presente trabalho estuda o controle de seguimento de trajetória de um Manipulador Plataforma Stewart (MPS) com atuadores hidráulicos para ser aplicado como simulador de movimentos de navios. O estudo envolve a análise da cinemát

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Theissen, Nikolas Alexander. "Physics-based modelling and measurement of advanced manufacturing machinery’s positioning accuracy : Machine tools, industrial manipulators and their positioning accuracy." Licentiate thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263700.

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Advanced manufacturing machinery is a corner stone of essential industries of technologicallydeveloped societies. Their accuracy permits the production of complexproducts according to tight geometric dimensions and tolerances for high efficiency,interchangeability and sustainability. The accuracy of advanced manufacturingmachinery can be quantified by the performance measure of positioning accuracy.Positioning accuracy measures the closeness between a commanded and an attainedposition on a machine tool or industrial manipulator, and it is ruled by lawsof physics in classical mechanics and ther

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Pasquier, Michel. "Planification de trajectoires pour un robot manipulateur." Phd thesis, Grenoble INPG, 1989. http://tel.archives-ouvertes.fr/tel-00334461.

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Cette thèse traite du problème fondamental que constitue la planification de trajectoires de robots manipulateurs. Une première partie précise le contexte robotique de notre travail et présente le système général de programmation automatique développe au Lifia. Nous analysons ensuite l'importance de la représentation des connaissances nécessaires aux raisonnements géométriques particuliers a la planification de déplacements. Les méthodes de modélisation et les concepts de représentation que nous avons mis en oeuvre sont ensuite présentes. Une deuxième partie traite de la planification de traje

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Schuster, Micha. "Entwicklung und Modellierung einer vollaktuierten Drohne." Master's thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2018. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-236790.

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Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller

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McDaid, Andrew John. "Modelling and control of IPMC actuators for biomedical robotics applications : a compliant stepper motor, an artificial muscle joint, a microfluidic pump and a cell microtool/gripper and manipulator." Thesis, University of Auckland, 2011. http://hdl.handle.net/2292/8440.

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The natural progression for future robotic devices is to work closely with humans in their own environment and even become embedded with humans for improving quality of life. Some already existing biomedical devices include hearing aids, pacemakers and prosthetic limbs. The main motivation for this research was to develop new innovative biomedical robotic devices which have the ability to improve the standard of living for humanity. Traditional robotic actuators, for example electro-magnetic drives and hydraulic/pneumatic machines, have all been extensively investigated. Although these

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Chebab, Zine Elabidine. "Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3)." Thesis, Université Clermont Auvergne‎ (2017-2020), 2018. http://www.theses.fr/2018CLFAC070/document.

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Dans un contexte d’Industrie 4.0, on perçoit de nouveaux usages possibles des manipulateurs mobiles (MMs), des robots généralement obtenus par l’association d’un bras manipulateur et d’une plate-forme mobile. Ce travail de thèse se focalise sur la synthèse et la commande de nouveaux MMs coopératifs en définissant trois défis à relever. Le premier défi concerne l’élargissement des domaines d’utilisation des robots par la possibilité de leur utilisation coopérative. Nous définissons ainsi un système robotique modulaire basé sur l’utilisation d’entités robotiques appelés mono-robots (m-bots). Ceu

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Wang, Daxue. "Dynamic analysis of constrained object motion for mechanical transfer of live products." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28099.

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Zucatelli, Fernando Henrique Gomes. "Modelagem cinemática e dinâmica de uma mão robótica para aplicações práticas de teleoperação." reponame:Repositório Institucional da UFABC, 2017.

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Orientador: Prof. Dr. Magno Enrique Mendoza Meza<br>Dissertação (mestrado) - Universidade Federal do ABC, Programa de Pós-Graduação em Engenharia Mecânica, 2017.<br>Este trabalho apresenta (i) a implementação de uma mão robótica humana produzida por impressora 3D com a caracterização de sensores flexíveis e de força e os respectivos algoritmos de operação; (ii) a modelagem cinemática e desenvolvimento de seu simulador; (iii) a modelagem dinâmica e seu respectivo simulador e (iv) simulações numéricas da dinâmica de contato entre a ponta do dedo da mão e um objeto. A aplicação da tecnologia de

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Mendes, Eduardo Felippe Aguiar. "Uma contribuição ao desenvolvimento de manipuladores antropomorficos com enfase na utilização de musculos artificiais." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264731.

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Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007<br>Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teoria

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Tayba, Ahmad. "Amélioration de la partie supérieure du robot HYDROïD pour les tâches bi-manuelles et la manipulation." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLV102/document.

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Ma thèse vise à contribuer au développement et l’amélioration de la cinématique de la partie supérieure du robot HYDROïD pour des tâches bi-manuelles, tout en basant sur une étude biomécanique de cette partie chez l’être humain.Pour atteindre notre objectif majeur, ce travail adopte dans un premier temps une nouvelle structure hybride de 4 degrés de liberté (ddl) pour le torse du robot, distribués en 3 ddl au niveau lombaire et un ddl au niveau thoracique. Cette structure était identifiée après une analyse de l’espace de travail d’un modèle multi-corps simulant la colonne vertébrale d’un être

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Torre, Ferrero Carlos. "Contribuciones al alineamiento de nubes de puntos 3d para su uso en aplicaciones de captura robotizada de objetos." Doctoral thesis, Universidad de Cantabria, 2010. http://hdl.handle.net/10803/51875.

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En aplicaciones de captura robotizada se ha hecho necesario el uso de información tridimensional de los objetos que son manipulados. Esta información puede obtenerse mediante dispositivos de adquisición 3D, tales como escáneres láser o cámaras de tiempo de vuelo, que proporcionan imágenes de rango de los objetos. En este trabajo de tesis se presenta un nuevo enfoque para encontrar, sin disponer de una estimación previa, la transformación rígida que produzca una alineación adecuada de las nubes de puntos obtenidas con esos dispositivos. El algoritmo realiza una búsqueda iterativa de corresponde

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