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Journal articles on the topic 'Robotic manipulator modeling'

Author: Grafiati

Published: 3 June 2025

Last updated: 31 July 2025

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1

Huang, Xuan, Lingbao Kong, and Guangxi Dong. "Modeling and Compensation of Motion Errors for 6-DOF Robotic Manipulators." Applied Sciences 11, no. 21 (2021): 10100. http://dx.doi.org/10.3390/app112110100.

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Six degree-of-freedom (6-DOF) robotic manipulators have been increasingly adopted in various applications in industries due to various advantages, such as large operation space, more degrees of freedom, low cost, easy placement, and convenient programming. However, the robotic manipulator has the problem of insufficient stiffness due to the series structures, which will cause motion errors of the manipulator end. In this paper, taking a 6-DOF robotic manipulator as an example, forward and inverse kinematics models are established, and a new modeling method for the joint angle and space stiffne

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Mills, J. K., and C. V. Nguyen. "Robotic Manipulator Collisions: Modeling and Simulation." Journal of Dynamic Systems, Measurement, and Control 114, no. 4 (1992): 650–59. http://dx.doi.org/10.1115/1.2897737.

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In this paper, a new formulation of the dynamics of a robotic manipulator work environment is presented. The work environment is modeled in a way that permits the robot transition to and from contact with the work environment to be effectively simulated. This method circumvents the discontinuities inherent in previously proposed models of work environment dynamic models that have, until now, prevented researchers from considering that phase of manipulation. Combined with an existing model of the manipulator dynamics, the overall model of the manipulator-work environment system is such that the

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Baltabay, Dauren, Muratulla Utenov, Tarek Sobh, Sichen Yuan, and Zhadyra Zhumasheva. "Creation of an algorithm for the 3D modeling of manipulator motion and forward positional kinematics." International Journal of Innovative Research and Scientific Studies 8, no. 3 (2025): 2454–65. https://doi.org/10.53894/ijirss.v8i3.7026.

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In recent years, the utilization of 3D modeling for various robotic systems has gained significant traction, serving educational, research, and diverse applications. Presently, there are a multitude of 3D modeling tools tailored to different facets of robotic research, each possessing distinct advantages and limitations. This paper presents the development of novel algorithms and software aimed at constructing 3D representations of robotic arms that have enabled the visualization of the manipulator and its links’ motion. These algorithms allow for the depiction of forward kinematic outcomes th

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Cai, Jie, Jinlian Deng, Wei Zhang, and Weisheng Zhao. "Modeling Method of Autonomous Robot Manipulator Based on D-H Algorithm." Mobile Information Systems 2021 (July 7, 2021): 1–10. http://dx.doi.org/10.1155/2021/4448648.

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With the continuous development of science and technology, robotics is widely used in various fields. In recent years, more and more research studies have been done on the control of autonomous robotic manipulators. How to quickly, accurately, and smoothly grasp objects has always been a difficult point of research. As the robot’s executive mechanism, the robot arm plays an important role in whether the robot can complete a specific task. Therefore, the research on the robot arm is also the main topic in the development of robot technology. The control theory, kinematics, and human-computer in

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Golubov, V. V., and S. V. Manko. "Features and perspectives of application of the rapidly exploring random tree method for motion planning of autonomous robotic manipulators." Russian Technological Journal 11, no. 6 (2023): 16–27. http://dx.doi.org/10.32362/2500-316x-2023-11-6-16-27.

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Objectives. The work analyzes features of one of the most promising approaches to solve the problems for motion planning of autonomous robotic manipulators of various types and purposes using the rapidly exploring random tree (RRT) method. The development of modern robotics is shown to be inextricably linked with the improvement of the designs of the created samples, for which the placement of a manipulator on platform becomes a typical layout option. Prospects for using the RRT method as a constructive basis for creating a universal motion planner are evaluated for mobile and robotic manipula

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Wei-hong, Xu, Cao Li-jia, and Zhong Chun-lai. "Review of Aerial Manipulator and its Control." International Journal of Robotics and Control Systems 1, no. 3 (2021): 308–25. http://dx.doi.org/10.31763/ijrcs.v1i3.363.

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The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, an

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Tavora, Bruno, Hyeongjun Park, Marcello Romano, and Xiaoping Yun. "Equilibrium-Based Force and Torque Control for an Aerial Manipulator to Interact with a Vertical Surface." Robotica 38, no. 4 (2019): 582–604. http://dx.doi.org/10.1017/s0263574719000870.

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SUMMARYIn this paper, a force and torque controller for aerial manipulation is developed using an unmanned aerial vehicle equipped with a robotic arm to interact near or on a vertical surface such as a wall. Control of aerial manipulators interacting with the environment is a challenging task due to dynamic interactions between aerial vehicles, robotic arms, and environment. To achieve this, modeling of aerial manipulators is first investigated and presented considering interaction with the environment. Nonlinear models of generic aerial manipulators, as well as of a prototype aerial manipulat

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Da LV. "Modeling and Active Vibration Control of Flexible Robotic Arm and Its Application in Agricultural Water Conservancy Field." International Water and Irrigation 43, no. 2 (2024): 133–48. http://dx.doi.org/10.52783/iwi.v43i2.79.

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In order to improve the modeling and active vibration control effectiveness of flexible manipulators, this paper combines big data technology to study the modeling and active control of flexible manipulators. In addition, this article decouples the dynamic model of the flexible joint manipulator based on voltage control method, redefines the control input of the system as the voltage of the joint motor, and uses a nonlinear state observer to control the flexible link manipulator. The control strategy proposed in this article is based on a nonlinear state observer, combined with input-output co

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Utenov, М. U., D. K. Baltabay, Zh T. Rahim, and C. Zh Batyrbek. "Computer 3d modeling of manipulators in the Maple software environment." Bulletin of the National Engineering Academy of the Republic of Kazakhstan 86, no. 4 (2022): 109–15. http://dx.doi.org/10.47533/2020.1606-146x.201.

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The creation of a 3D model of any robotic systems has become widespread in the last few years and is used both for educational and research purposes, where work with a visual image of an object in three-dimensional space is required. Currently, there are many 3D modeling environments available for various fields of robotics research with some advantages and limitations. Computer 3D modeling of spatial manipulators and their movements with a visual image of the object allows you to visually observe the results when studying its kinematic, dynamic, power, control and other aspects. In this paper

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10

He, Han. "Modeling and Simulation for a Five DOF Robotic Arm Manipulator." Highlights in Science, Engineering and Technology 43 (April 14, 2023): 300–307. http://dx.doi.org/10.54097/hset.v43i.7433.

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Nowadays, service robots are used in a large number of applications in the service industry. With the booming service industry in third world countries, service robots are expected to be used in a wider range of applications, so it is of great importance to conduct research on service robots. This paper develops the model of a kinematic models for a 5 DOF robotic arm that used in service industry in SolidWorks. The robotic arm’s mathematical model is predicated on Denavit-Hartemberg (DH) method, which determine the robot joints angle vector. The procedure aims at describing the forward and inv

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Zhu, Shuaishuai, Gang Cheng, Feng Guo, and Yusong Pang. "Dynamic Modeling and Response Analysis of an Optical Machining Robot with Prismatic Joint Clearance." Applied Sciences 15, no. 6 (2025): 3197. https://doi.org/10.3390/app15063197.

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The accuracy and stability of robotic systems are significantly influenced by joint clearances, especially in precision applications like optical mirror polishing. This study focuses on a 5-DOF (Degree of Freedom) parallel manipulator designed for optical mirror polishing. The study conducts dynamic modeling by incorporating prismatic joint clearance and examines the resulting dynamic response. Previous studies on dynamic modeling have primarily focused on planar mechanisms with rotational or ball joint clearances, whereas research on parallel manipulators with spatial prismatic joint clearanc

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Strutynskyi, Serhii, and Roman Semenchuk. "Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission." Technology audit and production reserves 4, no. 1(60) (2021): 6–14. http://dx.doi.org/10.15587/2706-5448.2021.237326.

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The object of research is modern robotic systems used in hotspots. In their arsenal, such mobile works are equipped with manipulators with high-precision hinges, which provide accurate positioning of the gripper (object of manipulation). Considering ground-based robotic complexes with a wheel or caterpillar base, the implementation of the process of manipulation on a stationary basis, a number of problem areas were identified that affect the accuracy of positioning. In the course of research and analysis of modern robotic complexes, their circuit and design of components and mechanisms that pr

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Serhii, Strutynskyi, and Semenchuk Roman. "Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission." Technology audit and production reserves 4, no. 1(60) (2021): 6–14. https://doi.org/10.15587/2706-5448.2021.237326.

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<em>The object of research is modern robotic systems used in hotspots. In their arsenal, such mobile works are equipped with manipulators with high-precision hinges, which provide accurate positioning of the gripper (object of manipulation). Considering ground-based robotic complexes with a wheel or caterpillar base, the implementation of the process of manipulation on a stationary basis, a number of problem areas were identified that affect the accuracy of positioning.</em> <em>In the course of research and analysis of modern robotic complexes, their circuit and design of components and mecha

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Vemuri, Arun T., and Marios M. Polycarpou. "A methodology for fault diagnosis in robotic systems using neural networks." Robotica 22, no. 4 (2004): 419–38. http://dx.doi.org/10.1017/s0263574703005204.

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Fault diagnosis plays an important role in the operation of modern robotic systems. A number of researchers have proposed fault diagnosis architectures for robotic manipulators using the model-based analytical redundancy approach. One of the key issues in the design of such fault diagnosis schemes is the effect of modeling uncertainties on their performance. This paper investigates the problem of fault diagnosis in rigid-link robotic manipulators with modeling uncertainties. A learning architecture with sigmoidal neural networks is used to monitor the robotic system for off-nominal behavior du

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Anjum, Zuha, Saifullah Samo, Arbab Nighat, Akhtar Un Nisa, Muhammad Ali Soomro, and Reza Alayi. "Design and Modeling of 9 Degrees of Freedom Redundant Robotic Manipulator." Journal of Robotics and Control (JRC) 3, no. 6 (2022): 800–808. http://dx.doi.org/10.18196/jrc.v3i6.15958.

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In disaster areas, robot manipulators are used to rescue and clearance of sites. Because of the damaged area, they encounter disturbances like obstacles, and limited workspace to explore the area and to achieve the location of the victims. Increasing the degrees of freedom is required to boost the adaptability of manipulators to avoid disturbances, and to obtain the fast desired position and precise movements of the end-effector. These robot manipulators offer a reliable way to handle the barrier challenges since they can search in places that humans can't reach. In this research paper, the 9-

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Dharmendra, Kumar Patel, K. Ramachandra, and Singh Sartaj. "Kinematic Modeling and Hardware Development of 5-DoF Robot Manipulator." Applied Mechanics and Materials 612 (August 2014): 51–58. http://dx.doi.org/10.4028/www.scientific.net/amm.612.51.

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This paper presents a 5-DoF articulated robot manipulator and proposes a strategy for solving its inverse kinematics. The Denavit – Hartenberg (D-H) parameterization has been used to model the kinematics of the manipulator. As degree of freedom of manipulator increases, the geometrical solution for inverse kinematics becomes difficult; hence an analytical method for the same is presented. Novelty in the method presented is that no approximations of trigonometric functions are used resulting in a theoretical positional accuracy of 10-10mm of the end-effector. The articulated robotic manipulator

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17

Akil, Abdelmajid, Ayoub Nouaiti, Abdelwahed Touati, and Nabila Rabbah. "Modeling and Nonlinear Backstepping Control of a 3-DoF Robot Manipulator." Engineering, Technology & Applied Science Research 15, no. 3 (2025): 22459–65. https://doi.org/10.48084/etasr.10145.

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Robotic manipulators face significant control challenges in a wide range of industrial applications, where stability and reliability are essential for achieving operational objectives. This paper investigates nonlinear modeling and control strategies for a three Degree-of-Freedom (3-DOF) robot manipulator, focusing on dynamic complexities and employing advanced techniques like nonlinear backstepping design for trajectory tracking. The 3-DOF robot's nonlinear model is derived using Lagrange's equation. Subsequently, a backstepping control method is developed to manage the nonlinear behavior. Ba

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18

Valverde, Alfredo, and Panagiotis Tsiotras. "Spacecraft Robot Kinematics Using Dual Quaternions." Robotics 7, no. 4 (2018): 64. http://dx.doi.org/10.3390/robotics7040064.

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In recent years, there has been a growing interest in servicing orbiting satellites. In most cases, in-orbit servicing relies on the use of spacecraft-mounted robotic manipulators to carry out complicated mission objectives. Dual quaternions, a mathematical tool to conveniently represent pose, has recently been adopted within the space industry to tackle complex control problems during the stages of proximity operations and rendezvous, as well as for the dynamic modeling of robotic arms mounted on a spacecraft. The objective of this paper is to bridge the gap in the use of dual quaternions tha

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19

Cetinkunt, Sabri, and B. Ittop. "Computer Automated Symbolic Modeling of Dynamics of Robotic Manipulators with Flexible Links." Robotica 10, no. 1 (1992): 19–24. http://dx.doi.org/10.1017/s0263574700007037.

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SummaryDynamic equations of chain structured robotic manipulators with compliant links and joints are developed in a non-recursive symbolic form. A program is developed in REDUCE to automate the symbolic expansion of these equations for any given chain structured manipulator. The symbolic non-recursive form of dynamic model is particularly suitable for controller synthesis and real-time control implementations. The link flexibility is included in the formulation using assumed mode shapes. The mode shapes and the parameters that are functions of the mode shapes are kept in symbolic form so that

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Bu, Chi Wu, and Li Xun Zhang. "System Modeling and Analysis of Wind Turbine Blade Grinding Robot." Applied Mechanics and Materials 80-81 (July 2011): 889–93. http://dx.doi.org/10.4028/www.scientific.net/amm.80-81.889.

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A mobile grinding robot is present here for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding wheel. A mobile manipulator robot is built up with a mobile platform and a robotic arm mounted on it. The dynamic model of the robot is built, and the dynamic model of the two subsystems is derived from it, so the dynamic coupling items can be deduced. In order to discover how the coupling force influence the robotic manipulator, the SimMechanics model of the robot is built up and the simulation research is carried out by the built model. The results show

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Moosavian, S. Ali A., and Evangelos Papadopoulos. "Free-flying robots in space: an overview of dynamics modeling, planning and control." Robotica 25, no. 5 (2007): 537–47. http://dx.doi.org/10.1017/s0263574707003438.

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SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in contr

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Korendiy, Vitaliy, Oleksandr Kachur, Mykhailo Pylyp, Roman Karpyn, Andy Augousti, and Olena Lanets. "DESIGN AND KINEMATIC ANALYSIS OF A ROBOTIC MANIPULATOR FOR CONTROLLING FIRE MONITORS." Ukrainian Journal of Mechanical Engineering and Materials Science 11, no. 2 (2025): 10–26. https://doi.org/10.23939/ujmems2025.02.010.

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Problem statement. Conventional firefighting methods expose personnel to significant risks, particularly in hazardous environments. Robotic systems, specifically manipulators for controlling fire monitors, offer a safer and more efficient alternative by enabling precise delivery of extinguishing agents. However, their effective deployment necessitates a thorough understanding of their kinematic capabilities and limitations. Purpose. This research aims to conduct a comprehensive design and kinematic analysis of a five-degree-of-freedom (5-DOF) articulated robotic manipulator tailored for contro

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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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Sohrabi, Sobhan, Hamid M. Daniali, and Ali Reza Fathi. "DYNAMIC MODELING OF LONG SPAN NEW MATERIAL CABLE ROBOT." Transactions of the Canadian Society for Mechanical Engineering 41, no. 4 (2017): 517–30. http://dx.doi.org/10.1139/tcsme-2017-1036.

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Cable driven parallel manipulator (CDPM) is a robotic mechanism which utilize multiple actuated cables to manipulate objects. It offers some advantages over the conventional parallel manipulators, such as higher load to weight ratio and larger workspace. These advantages are more evident if one uses composite materials for the cables of CDPM. This study aims at dynamic analysis and trajectory path planning of long-span CDPM by taking into accounts the effects of mass, curvature, flexibility and viscoelastic behavior of its new material cables. The dynamic analysis of the CDPM shows that its en

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Baressi Šegota, Sandi, Nikola Anđelić, Mario Šercer, and Hrvoje Meštrić. "Dynamics Modeling of Industrial Robotic Manipulators: A Machine Learning Approach Based on Synthetic Data." Mathematics 10, no. 7 (2022): 1174. http://dx.doi.org/10.3390/math10071174.

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Obtaining a dynamic model of the robotic manipulator is a complex task. With the growing application of machine learning (ML) approaches in modern robotics, a question arises of using ML for dynamic modeling. Still, due to the large amounts of data necessary for this approach, data collection may be time and resource-intensive. For this reason, this paper aims to research the possibility of synthetic dataset creation by using pre-existing dynamic models to test the possibilities of both applications of such synthetic datasets, as well as modeling the dynamics of an industrial manipulator using

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

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

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Matrunchyk, Yu N. "Robotic training complex." «System analysis and applied information science», no. 1 (April 7, 2025): 69–73. https://doi.org/10.21122/2309-4923-2025-1-69-73.

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The article considers aspects of creating a robotic training complex for teaching, based on the "bottom-up" principle, methods of designing, programming and modeling industrial manipulators with five degrees of freedom based on modern microcontrollers. The main goal of the development is to increase the efficiency of the design process of robotic complexes, import substitution. It is proposed to solve the following problems: development of a robotic training complex (hereinafter – RTС), its simulation and mathematical model; identification and optimization of the model; development of an elect

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Zhou, Jinglei, and Qunli Zhang. "Adaptive Fuzzy Control of Uncertain Robotic Manipulator." Mathematical Problems in Engineering 2018 (2018): 1–10. http://dx.doi.org/10.1155/2018/4703492.

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This paper designs a kind of adaptive fuzzy controller for robotic manipulator considering external disturbances and modeling errors. First, n-link uncertain robotic manipulator dynamics based on the Lagrange equation is changed into a two-order multiple-input multiple-output (MIMO) system via feedback technique. Then, an adaptive fuzzy logic control scheme is studied by using sliding theory, which adopts the adaptive fuzzy logic systems to estimate the uncertainties and employs a filtered error to make up for the approximation errors, hence enhancing the robust performance of robotic manipula

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Meghdari, Ali. "A Variational Approach for Modeling Flexibility Effects in Manipulator Arms." Robotica 9, no. 2 (1991): 213–17. http://dx.doi.org/10.1017/s0263574700010262.

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SUMMARYThis paper presents a general technique to model flexible components (mainly links and joints flexibilities are considered) of manipulator arms based on Castigliano's theorem of least work. The robotic arms flexibility properties are derived and represented by the matrix of compliance coefficients. Such expressions can be used to determine the errors due to the robotic tip deformations under the application of a set of applied loads at the tip in a Cartesian space. Once these deformations are computed, they may be used to correct for the positional errors arisen from the robotic structu

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Galvan-Perez, Daniel, Hugo Yañez-Badillo, Francisco Beltran-Carbajal, Ivan Rivas-Cambero, Antonio Favela-Contreras, and Ruben Tapia-Olvera. "Neural Adaptive Robust Motion-Tracking Control for Robotic Manipulator Systems." Actuators 11, no. 9 (2022): 255. http://dx.doi.org/10.3390/act11090255.

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This paper deals with the motion trajectory tracking control problem based on output feedback and artificial neural networks for anthropomorphic manipulator robots under disturbed operating scenarios. This class of manipulator robots constitutes nonlinear dynamic systems subjected to disturbance torques induced mainly by work payload. Parametric uncertainty and possible dynamic modeling errors stand for other kind of disturbances that can deteriorate the efficiency and robustness of the tracking of controlled nonlinear robotic system trajectories. In fact, the presence of unknown dynamic distu

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Kumar Srivastava, Arunesh. "Modeling of Self Tuned Fuzzy Proportional Integral Derivative Controller." Journal of Futuristic Sciences and Applications 4, no. 2 (2021): 16–21. http://dx.doi.org/10.51976/jfsa.422103.

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As the number of connections and the complexity of the manipulator system rose, it became more difficult for the control engineers to manage such a manipulator system, requiring the employment of a separate control system to govern the manipulator's position and velocity. Using different mathematical equations, this work investigates a self-tuned fuzzy PID (STFPID) controller that is capable of following trajectories and suppressing noise. A dynamic model for a two-link stiff robotic manipulator has been built in Simulink and used to drive the plant, and the STFPID controller is being used to

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Vorobiov, Oleksii, and Yuliia Lazarchuk-Vorobiova. "APPLICATION OF STRUCTURAL-PARAMETRIC APPROACH TO GEOMETRICAL MODELING OF FLEXIBLE MANIPULATOR AS A COMPONENT OF ROBOTIC SYSTEMS." APPLIED GEOMETRY AND ENGINEERING GRAPHICS, no. 108 (July 3, 2025): 64–71. https://doi.org/10.32347/0131-579x.2025.108.64-71.

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Kondratev, Sergei, and Victor Meshcheryakov. "Modeling of 2R Planar Dumbbell Stacker Robot Locomotion Using Force Control for Gripper Dexterous Manipulation." Computation 10, no. 9 (2022): 143. http://dx.doi.org/10.3390/computation10090143.

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This paper describes a novel approach to the robotic system’s dexterous manipulator arm design. A simulation model of the robotic system is developed in the MATLAB/Simulink environment. The designed gripper moves the dumbbells from one shelf to another using impedance and dynamics control. The novel approach to contact force control was tested. For the most accurate simulation, the size and mass parameters of the manipulator and dumbbells are determined. In addition, various force parameters such as normal, friction and damping were evaluated. The dynamic behavior of the robotic system was des

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Chen, Yuan, Xiao Peng Tan, and Jun Gao. "Fuzzy Adaptive Compensation Control for Robot Manipulator with Uncertain Dynamics." Advanced Materials Research 588-589 (November 2012): 1450–53. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1450.

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This paper proposes two types of adaptive control schemes combined by the conventional computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties. Fuzzy compensators based on feed-forward and feed-back are developed to compensate these modeling uncertainties. The validity of the two types of adaptive control schemes is shown by numerical simulations of a three link rotary robot manipulator.

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Shi, Hu, Boyang Zhang, Xuesong Mei, and Qichun Song. "Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot." Sensors 21, no. 22 (2021): 7489. http://dx.doi.org/10.3390/s21227489.

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Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipul

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Zhong, Xun Gao, Xia Fu Peng, Xun Yu Zhong, and Li Xiong Lin. "Dynamic Jacobian Identification Based on State-Space for Robot Manipulation." Applied Mechanics and Materials 475-476 (December 2013): 675–79. http://dx.doi.org/10.4028/www.scientific.net/amm.475-476.675.

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This paper focused on the dynamic Jcobian identification for robot visual feedback control in unstructured environments, there is the robotic manipulator without kinematics model, and the camera without calibration. First, a visual servoing scheme based on Kalman filtering (KF) to model-independent robotic manipulation is proposed. The Jacobian identification were solved by formatted as state estimation problems, the desired Jacobian is optimal estimated under minimum-variance condition to achieves robotic precise converge to the desired pose. Our method, without requiring modeling parameters,

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Zalypka, V. "DESIGN FEATURES OF THE MANIPULATOR-MOTOR FOR MULTI-PURPOSE ROBOTIC PLATFORMS." Наукові праці Державного науково-дослідного інституту випробувань і сертифікації озброєння та військової техніки 20, no. 3 (2024): 35–42. http://dx.doi.org/10.37701/dndivsovt.21.2024.04.

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It has been established that the use of multi-purpose robotic platforms (MPRP), as one of the types of ground robotic complexes, is an important factor that allows preserving the life and health of servicemen on the battlefield. It was found that the movement of MPRP, and as a result, the performance of assigned tasks, is often limited (loss of stability and passability) as a result of difficult terrain areas, or as a result of destruction caused by enemy fire. The well-known approaches that allow to ensure the multi-functionality of individual parts of the MPRP to improve their stability and

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Khamseh, Hossein Bonyan, and Farrokh Janabi-Sharifi. "UKF–Based LQR Control of a Manipulating Unmanned Aerial Vehicle." Unmanned Systems 05, no. 03 (2017): 131–39. http://dx.doi.org/10.1142/s2301385017400015.

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In this paper, modeling, control and state estimation of a manipulating unmanned aerial vehicle (UAV) consisting of a quadcopter equipped with a two degree-of-freedom robotic manipulator is discussed. In the first step, Euler–Lagrange approach is adopted to model the coupled dynamics of the quadcopter and its robotic manipulator. Having linearized the obtained model, a linear quadratic regulator is designed to achieve simultaneous control of the quadcopter and the manipulator. Finally, a UKF-based algorithm is employed to obtain state estimation of the system. For a case study, simulation resu

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Prigozin, Amit, and Amir Degani. "Interacting with Obstacles Using a Bio-Inspired, Flexible, Underactuated Multilink Manipulator." Biomimetics 9, no. 2 (2024): 86. http://dx.doi.org/10.3390/biomimetics9020086.

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With the increasing demand for robotic manipulators to operate in complex environments, it is important to develop designs that work in obstacle-rich environments and can navigate around obstacles. This paper aims to demonstrate the capabilities of a bio-inspired, underactuated multilink manipulator in environments with fixed and/or movable obstacles. To simplify the system design, a single rotational actuator is used at the base of the manipulator. We present a modeling method for flexible, multilink underactuated manipulators, including their interaction with obstacles. We also demonstrate h

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Widyacandra, Ayu, Adnan Rafi Al Tahtawi, and Martin Martin. "Forward and inverse kinematics modeling of 3-DoF AX-12A robotic manipulator." JITEL (Jurnal Ilmiah Telekomunikasi, Elektronika, dan Listrik Tenaga) 2, no. 2 (2022): 139–50. http://dx.doi.org/10.35313/jitel.v2.i2.2022.139-150.

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The presence of robots that can assist humans with heavy or dangerous work makes the need for robots more pressing at the moment. One type of robot needed is a robot arm, which is widely used in the manufacturing industry, such as in the assembly process and pick and place. The types of robotic arms used vary both in terms of configuration and the number of degrees of freedom. However, with different types of robotic arms, different models of movement are used. Therefore, research related to the modeling of the robotic arm continues to be carried out to obtain the appropriate movement of the r

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Meghdari, A., and M. Shahinpoor. "Three-dimensional flexural-joint stiffness analysis of flexible manipulator arms." Robotica 6, no. 3 (1988): 203–12. http://dx.doi.org/10.1017/s0263574700004318.

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SUMMARYThis paper presents a complete derivation of the combined flexural-joint stiffness matrix and the elastic deformation field of flexible manipulator arms treated in a three-dimensional fashion. The stiffness properties are derived directly from the differential equations used in the engineering beam theory. The expressions developed here can readily be used in the modeling, control and design of light weight flexible robot manipulators. A two-link arm is used to formulate these expressions and the results can be generalized to n–link manipulators. The stiffness matrix for a robotic link

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Shenggang, Wei, Xie Fengjuan, Hou Liguo, and Li Guangning. "Modeling and Simulation Method of Coordinated Manipulator Based on Robotic Toolbox and ADAMS." Journal of Physics: Conference Series 2891, no. 10 (2024): 102020. https://doi.org/10.1088/1742-6596/2891/10/102020.

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Abstract The coordinator was an important component of the automatic ammunition loading system of large-caliber artillery. In this paper, kinematics and dynamics of a coordination manipulator with five degrees of freedom were carried out. The forward and inverse kinematics analysis and motion trajectory planning of the simplified coordination manipulator under different firing angles were carried out with Robotic Toolbox to obtain the motion parameters of angular displacement, angular velocity and angular acceleration at each driving joint of the manipulator. Using the motion parameters obtain

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Fenili, André, and José Manoel Balthazar. "The rigid-flexible nonlinear robotic manipulator: Modeling and control." Communications in Nonlinear Science and Numerical Simulation 16, no. 5 (2011): 2332–41. http://dx.doi.org/10.1016/j.cnsns.2010.04.057.

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Gamarra-Rosado, V. O., and E. A. O. Yuhara. "Dynamic modeling and simulation of a flexible robotic manipulator." Robotica 17, no. 5 (1999): 523–28. http://dx.doi.org/10.1017/s0263574799001721.

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This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

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ПОЛІЩУК, АНДРІЙ, ЄВГЕН ГАРБАР, ОЛЕГ ПОЛІЩУК, ОЛЕКСАНДР ДУКА та МАРІУШ ГЕРГЕЛЬ. "МОДЕЛЮВАННЯ ОПЕРАЦІЇ ЛАЗЕРНОГО ГРАВІЮВАННЯ З ВИКОРИСТАННЯМ ПРОГРАМНОГО СЕРЕДОВИЩА ROBODK ТА РОБОТА-МАНІПУЛЯТОРА". Herald of Khmelnytskyi National University. Technical sciences 347, № 1 (2025): 500–505. https://doi.org/10.31891/2307-5732-2025-347-68.

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The article discusses the methodology for modeling and simulating the laser engraving process using the RoboDK software environment. The use of robotic systems in production processes allows you to increase the accuracy of material processing, reduce costs and minimize the likelihood of errors. One of the key aspects of implementing such technologies is preliminary digital testing, which allows you to optimize the parameters of the manipulator motion trajectories and check their effectiveness without the need for physical intervention in the equipment. As part of the study, an algorithm for cr

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Emmanuel, C. Agbaraji, C. Inyiama Hyacinth, and C. Okezie Christiana. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. https://doi.org/10.9734/PSIJ/2017/33578.

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non neg

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Thomas, M., H. C. Yuan-Chou, and D. Tesar. "Optimal Actuator Sizing for Robotic Manipulators Based on Local Dynamic Criteria." Journal of Mechanisms, Transmissions, and Automation in Design 107, no. 2 (1985): 163–69. http://dx.doi.org/10.1115/1.3258705.

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Robotic manipulators provide general, programmable motion paths and force functions to carry out processes of a high level of dexterity and flexibility. These systems are characterized by several degrees of freedom of controllable motion. As a consequence the resulting mechanical structure contains a very large number of design values including geometric, mass, compliance, strength, and prime mover parameters [1]. The analysis on which to base the design methods involves the multivariable mathematical relations between these design parameters and the manipulator’s force and motion states which

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Lalvani, Veena. "Simulation and Motion Analysis of a Planar Robotic Manipulator Using MATLAB Toolboxes." International Journal for Research in Applied Science and Engineering Technology 13, no. 3 (2025): 1009–13. https://doi.org/10.22214/ijraset.2025.67451.

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This study presents the modeling, simulation, and motion control of a two-degree-of-freedom (DOF) planar robotic manipulator using MATLAB’s Simscape and Robotic System Toolbox. The research focuses on designing a simulated robotic arm capable of executing controlled movements using forward kinematics. The proposed approach involves mechanical model, creation, motion analysis, and control kinematics. The proposed approach involves a creation of a model using simscape multibody blocks, motion analysis, and control execution through Simulink. Furthermore, the study explores future advancements an

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Colucci, Giovanni, Andrea Botta, Luigi Tagliavini, Paride Cavallone, Lorenzo Baglieri, and Giuseppe Quaglia. "Kinematic Modeling and Motion Planning of the Mobile Manipulator Agri.Q for Precision Agriculture." Machines 10, no. 5 (2022): 321. http://dx.doi.org/10.3390/machines10050321.

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In recent years, the study of robotic systems for agriculture, a modern research field often shortened as “precision agriculture”, has become highly relevant, especially for those repetitive actions that can be automated thanks to innovative robotic solutions. This paper presents the kinematic model and a motion planning pipeline for a mobile manipulator specifically designed for precision agriculture applications, such as crop sampling and monitoring, formed by a novel articulated mobile base and a commercial collaborative manipulator with seven degrees of freedom. Starting from the models of

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Wu, Jim-Wei, Wen-Shan Cen, and Cheng-Chang Ho. "Numerical Simulation of Adaptive Radial Basis NN-Based Non-Singular Fast Terminal Sliding Mode Control with Time Delay Estimator for Precise Control of Dual-Axis Manipulator." Applied Sciences 12, no. 19 (2022): 9605. http://dx.doi.org/10.3390/app12199605.

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Robotic manipulators can reduce the cost of production and improve productivity; however, controlling a manipulator to follow a desired trajectory is a thorny problem. In this study, we introduced various forms of interference to facilitate the modeling of a dual-axis manipulator. The interference associated with the payload is handled by an adaptive radial basis neural network (ARBNN) controller, while other interference is estimated by a time delay estimator (TDE). The control signal is output by a non-singular fast terminal sliding mode controller (NFTSMC) to minimize further interference.

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