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Journal articles on the topic 'Work-manipulators'

Author: Grafiati

Published: 28 May 2022

Last updated: 31 July 2025

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1

Aydin, Kubilay Kaan. "Work-Space Design for Fault Tolerant Manipulators." IFAC Proceedings Volumes 29, no. 1 (1996): 313–18. http://dx.doi.org/10.1016/s1474-6670(17)57681-8.

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2

Strutinsky, Vasiliy, and Andriy Hurzhiі. "Elements of the theory of designing manipulators from composite materials for ground robotic complexes for special purposes." International Scientific and Technical conference "The Progressive Technics, Technology and Engineering Education", no. XXIII (June 9, 2023): 171–73. http://dx.doi.org/10.20535/2409-7160.2023.xxiii.281397.

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Elements of the theory of designing manipulators from composite materials intended for use in ground-based robotic complexes for special purposes have been developed. Circuit solutions of manipulators and constructive execution of their main components and elements are proposed. Special hinges and remote drives for moving links of manipulators have been developed. To ensure the required static and dynamic characteristics, special mechatronic modules are implemented in the form of geared motors that are outside the manipulators. Control systems of geared motors are implemented on the basis of a

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3

SHINOHARA, Yoshikuni, Hozumi USUI, and Yoshio FUJII. "Development of Telerobotic Manipulators for Reactor Dismantling Work." Journal of the Robotics Society of Japan 9, no. 3 (1991): 323–34. http://dx.doi.org/10.7210/jrsj.9.323.

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4

HATANO, Kazuki, Marina OGISAKA, and Hisashi OSUMI. "Internal Force Control in Cooperative Work by Manipulators." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 1P1—I17. http://dx.doi.org/10.1299/jsmermd.2018.1p1-i17.

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5

Shinohara, Yoshikuni, Hozumi Usui, and Yoshio Fujii. "Development of telerobotic manipulators for reactor dismantling work." Advanced Robotics 8, no. 1 (1993): 95–119. http://dx.doi.org/10.1163/156855394x00077.

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6

Łopatka, Marian Janusz, Piotr Krogul, Arkadiusz Rubiec, and Mirosław Przybysz. "Preliminary Experimental Research on the Influence of Counterbalance Valves on the Operation of a Heavy Hydraulic Manipulator during Long-Range Straight-Line Movement." Energies 15, no. 15 (2022): 5596. http://dx.doi.org/10.3390/en15155596.

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The effective use of robotic manipulators is particularly important when carrying out hazardous tasks. Often, for this type of mission, manipulators equipped with a hydraulic drive system are used, and their work results primarily from the implementation of precise movements through their effectors. In heavy manipulators, limiting the uncontrolled movement resulting from high inertia and relatively low stiffness has an impact on the improvement of the control precision. Therefore, the paper presents experimental studies that allow the assessment of the impact of the use of counterbalance valve

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7

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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8

Koo, Kyongmo, Xin Jiang, Atsushi Konno, and Masaru Uchiyama. "Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators." Journal of Robotics and Mechatronics 23, no. 6 (2011): 907–18. http://dx.doi.org/10.20965/jrm.2011.p0907.

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This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order

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9

Liu, Jiaxin, Aoshun Zhang, En Li, Rui Guo, Shengchuan Li, and Mingrui Luo. "A Review on the Environment Perception and Control Technologies for the Hyperredundant Manipulators in Limited Space." Journal of Sensors 2022 (September 27, 2022): 1–15. http://dx.doi.org/10.1155/2022/7659012.

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As a typical kind of special robot with high flexibility and maneuverability, the hyperredundant manipulators (HRM) which can work in the narrow and complex space arose much related research work. Due to the particularity of the environment and the structural complexity of the manipulators, there are many problems for the HRM in specific applications. This paper summarizes some representative research works for HRM, including the mechanical design, environment perception, robotic navigation, and trajectory control. In order to make the design of the HRM systems more suitable for applications,

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10

Yegana Aliyeva, Yegana Aliyeva, and İsmail Khalilzadeh İsmail Khalilzadeh. "MICROCONTROLLER MANAGEMENT SYSTEM OF MANIPULATOR MANAGE." ETM - Equipment, Technologies, Materials 23, no. 05 (2024): 83–89. http://dx.doi.org/10.36962/etm23052024-09.

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Currently, most manipulators are driven by a DC or AC motor. The encoder is used as a speed positioning and feedback device in the manipulator control system.The spectrum of available solutions in the field of microcontroller control systems of manipulators is considered in the article. The circuit of the controller board has been developed to control the transfer of the manipulator manga.The analysis of the element base included in the composition of the control board has been performed. The manipulators used for the automation of biochemical analysis allow to improve the quality of the condu

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11

Platonova, Marina, A. Platonov, and Mihail Drapalyuk. "The mathematical description of work area little detailed manipulators." Актуальные направления научных исследований XXI века: теория и практика 3, no. 9 (2015): 365–69. http://dx.doi.org/10.12737/16510.

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12

ALAKBAROV, Allahverdi. "STRUCTURAL SYNTHESIS OF SERIAL SPHERICAL MANIPULATORS." Machine Science Journal 1, no. 1 (2023): 76–80. http://dx.doi.org/10.61413/wdhy6534.

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Serial manipulators are a serial of links connected by joints. The manipulator is called serial, because the drives of this manipulator are arranged in series, one after the other. Most often, the drives of the sequential manipulator are located on jointes or are coordinated with the joint. All links, the base, as well as the executive link, make up the kinematic chain of the manipulator. Serial manipulators have a large working area, it is much larger than the working area of parallel manipulators, which allows them to work with large parts, which undoubtedly increases the area in which the m

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13

Herrero, Saioa, Charles Pinto, Mikel Diez, and Javier Corral. "Analytical Procedure Based on the Matrix Structural Method for the Analysis of the Stiffness of the 2PRU–1PRS Parallel Manipulator." Robotica 37, no. 08 (2019): 1401–14. http://dx.doi.org/10.1017/s026357471900002x.

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SummaryParallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces tes

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14

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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15

Zijie, Fan, Lu Bingheng, and C. H. Ku. "Dynamic Analysis of Flexible Manipulator Arms With Distributed Viscoelastic Damping." Journal of Dynamic Systems, Measurement, and Control 119, no. 4 (1997): 831–33. http://dx.doi.org/10.1115/1.2802399.

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The main objective of this work is to predict the effect of distributed viscoelastic damping on the dynamic response of multilink flexible robot manipulators. A general approach, based on the principle of virtual work, is presented for the modeling of flexible robot arms with distributed viscoelastic damping. The finite element equations are developed, and a recurrence formulation for numerical integration of these equations is obtained. It is demonstrated, by a numerical example, that the viscoelastic damping treatments have a significant effect on the dynamic response of flexible robot manip

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16

Korobenko, Yaroslav, Dmitry Mishchuk, and Ilya Sankin. "Research of relationships between the technical parameters of industrial manipulators." Gіrnichі, budіvelnі, dorozhnі ta melіorativnі mashini, no. 102 (December 25, 2023): 65–73. http://dx.doi.org/10.32347/gbdmm.2023.102.0502.

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Industrial manipulators have to become an integral part of modern construction production, playing a key role in the automation and optimization of production processes. When designing and using industrial manipulators, it is important to know the various parameters that interact with each other and affect the overall productivity and efficiency of the production line in which industrial manipulators operate. In the design of the robot process and construction production, it is necessary to know the technical requirements that need to be met by the robot system. Therefore, when designing indus

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17

Nugroho, Emmanuel Agung, Joga Dharma Setiawan, and M. Munadi. "Physical Modeling of a 4-DOF Manipulator for Learning Purposes Using CAD and GUI." International Journal of Mechanical Engineering and Robotics Research 13, no. 3 (2024): 392–401. http://dx.doi.org/10.18178/ijmerr.13.3.392-401.

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The growing popularity of manipulators in industry has increased the need for mastery of knowledge about the kinematics and dynamics of manipulators. On the other hand, manipulators are not affordable items for learning purposes, so modeling is one of the right solutions as well as a new form of contribution to introduce physical manipulators without having to have many manipulators in the laboratory. Through this work, a 4-Degree of Freedom (DOF) manipulator can be physically modeled similarly to its original form as an educational robot, and a dashboard can be designed to control its movemen

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18

Singh, Amanpreet, Ekta Singla, Sanjeev Soni, and Ashish Singla. "Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 1 (2017): 12–23. http://dx.doi.org/10.1177/0954411917741331.

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The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulato

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19

Kramar, Vadim, Oleg Kramar, Aleksey Kabanov, and Vasiliy Alchakov. "Neural Network Method of Controlling Self-Collisions of Multilink Manipulators Based on the Solution of the Classification Problem." Applied Sciences 13, no. 24 (2023): 13240. http://dx.doi.org/10.3390/app132413240.

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The problem of self-collisions of manipulators with several links installed on a robot can arise when they work together in one zone. To prevent self-collisions, it is necessary to develop methods for their detection and their subsequent inclusion in control algorithms. This paper proposes an approach for determining the occurrence of self-collisions of manipulators using the Artificial Neural Networks approach. In contrast to the regression problem, this article proposes a classification approach. The effectiveness of the proposed approach was tested on robots with multilink manipulators “Ich

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20

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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21

Cegielski, Paweł, Dariusz Golański, Paweł Kołodziejczak, Andrzej Kolasa, Bogusław Silbert, and Yevhen Krykavskyy. "Selected problems of design and pre-implementation studies of new types of manipulators." Welding Technology Review 93, no. 3 (2021): 11–29. http://dx.doi.org/10.26628/wtr.v93i3.1144.

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Conceptual development and testing of models and prototypes of manipulators, supporting the work of industrial robots, has become a specialty of the Department of Welding Engineering of the Warsaw University of Technology and ZAP Robotyka from Ostrow Wielkopolski. However, they are not typical devices, so their development requires a detailed analysis of many aspects, both functional and economic. Also the pre-implementation tests are not included in dedicated standards and must be based on previously developed experimental procedures. This article presents selected problems in the design and

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22

NAKAJIMA, Shin-ichi. "Ultrasonic Proximity Sensor for Profile Following Work by Robot Manipulators." Transactions of the Society of Instrument and Control Engineers 21, no. 12 (1985): 1354–56. http://dx.doi.org/10.9746/sicetr1965.21.1354.

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23

NAKAJIMA, Shin-ichi. "Ultrasonic Proximity Sensor for Profile Following Work by Robot Manipulators." Transactions of the Society of Instrument and Control Engineers 22, no. 5 (1986): 567–73. http://dx.doi.org/10.9746/sicetr1965.22.567.

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24

Kiriazov, Petko, and Pencho Marinov. "On the Optimal Placement of Robot Manipulators and Work Stations." IFAC Proceedings Volumes 25, no. 8 (1992): 716–20. http://dx.doi.org/10.1016/s1474-6670(17)54129-4.

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25

Wang, Junli, Shitong Wang, and Wenhao Leng. "Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator." Mathematical Problems in Engineering 2021 (February 22, 2021): 1–12. http://dx.doi.org/10.1155/2021/6656928.

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Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which sev

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26

Altuzarra, Oscar, Mónica Urizar, Kerman Bilbao, and Alfonso Hernández. "Full Forward Kinematics of Lower-Mobility Planar Parallel Continuum Robots." Mathematics 12, no. 22 (2024): 3562. http://dx.doi.org/10.3390/math12223562.

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In rigid lower-mobility parallel manipulators the motion of the end-effector is partially constrained due to a combination of passive kinematic pairs and rigid components. Translational mechanisms, such as the Delta manipulator, are the most common ones among this type of mechanisms. When flexible elements are introduced, as in Parallel Continuum Manipulators, the constraint is no longer rigid, and new challenges arise in performing certain motions depending on the degree of compliance. Mobility analysis shifts from being purely a geometric issue to one that heavily relies on force distributio

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27

Atia, Khaled R., and M. P. Cartmell. "A general dynamic model for a large-scale 2-DOF planar parallel manipulator." Robotica 17, no. 6 (1999): 675–83. http://dx.doi.org/10.1017/s0263574799001794.

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In this work a new concept of designing two degree of freedom (2-DOF) planar parallel manipulators (PPMs) is presented. With this design the manipulator's workspace can be increased by increasing the number of cells in the manipulator. A general dynamic model is formulated for the manipulator with any number of cells. The model is adapted for SCARA and ADEPT configurations, and a new approach for balancing these type of manipulators is proposed.

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28

Patel, Hishantkumar Rashmikantbhai, and Yashavant Patel. "Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces." International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 135–42. https://doi.org/10.11591/ijra.v9i2.pp135-142.

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Parallel Manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology and many mo

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29

Zhu, Chunxia, Jay Katupitiya, and Jing Wang. "Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics." Industrial Robot: An International Journal 44, no. 6 (2017): 776–87. http://dx.doi.org/10.1108/ir-12-2016-0368.

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Purpose Manipulator motion accuracy is a fundamental requirement for precision manufacturing equipment. Light weight manipulators in high speed motions are vulnerable to deformations. The purpose of this work is to analyze the effect of link deformation on the motion precision of parallel manipulators. Design/methodology/approach The flexible dynamics model of the links is first established by applying the Euler–Bernoulli beam theory and the assumed modal method. The rigid-flexible coupling equations of the parallel mechanism are further derived by using the Lagrange multiplier approach. The e

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30

Altuzarra, Oscar, Mónica Urizar, Alfonso Hernández, and Enrique Amezua. "Parallel Continuum Delta: On the Performance Analysis of Flexible Quasi-Translational Robots." Applied Sciences 14, no. 21 (2024): 9744. http://dx.doi.org/10.3390/app14219744.

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In the field of rigid parallel manipulators, the Delta parallel robot is one of the most popular choices in the industry due to its ability to adapt to a wide range of applications, particularly pick-and-place tasks. In this paper, the authors present novel designs of Delta-type continuum parallel manipulators with flexible bars, solving both their direct and inverse kinematics, as well as obtaining the associated workspace. The continuum parallel manipulators, unlike conventional robots, incorporate certain flexible elements, such as slender rods that make up the kinematic chains of the Delta

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31

Patel, Hishantkumar Rashmikantbhai, and Yashavant Patel. "Inverse kinematic analysis of 3 DOF 3-PRS PM for machining on inclined prismatic surfaces." IAES International Journal of Robotics and Automation (IJRA) 9, no. 2 (2020): 135. http://dx.doi.org/10.11591/ijra.v9i2.pp135-142.

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<p>Parallel Manipulators (PMs) are family members of modern manipulators based on the closed loop structural architecture. 3-PRS (prismatic, revolute, spherical) manipulator with 3DOF is investigated for its machining capability on prismatic surfaces as it possesses greater structural stiffness, higher pay load caring capacity, more precision compare to serial manipulators as well as less accumulation of errors at joints within a constrained workspace. The said manipulator can be utilized in various fields of application such as precise manufacturing, medical surgery, space technology an

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32

Pathak, Monisha, and Dr Mrinal Buragohain. "Adaptive Sliding Mode Controller for Robotic Manipulator Tracking Control with Fuzzy Design." International Journal of Engineering and Advanced Technology 11, no. 6 (2022): 164–67. http://dx.doi.org/10.35940/ijeat.f3755.0811622.

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This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. This work introduces design of Adaptive Fuzzy Controller based on sliding control principles for Robotic Manipulators. In the work, an adaptive fuzzy sliding mode control algorithm is proposed for tracking control of robot manipulators. The fuzzy system uses a set of fuzzy rules, the parameters of which are modified in real-time by adaptive laws, to approximate unknown nonlinearities. This makes it easier to direct the nonlinear system's output to fol

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33

Liu, Xiangyu, Ping Zhang, and Guanglong Du. "Hybrid adaptive impedance-leader-follower control for multi-arm coordination manipulators." Industrial Robot: An International Journal 43, no. 1 (2016): 112–20. http://dx.doi.org/10.1108/ir-05-2015-0093.

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Purpose – The purpose of this paper is to provide a hybrid adaptive impedance-leader-follower control algorithm for multi-arm coordination manipulators, which is significant for dealing with the problems of kinematics inconsistency and error accumulation of interactive force in multi-arm system. Design/methodology/approach – This paper utilized a motion mapping theory in Cartesian space to establish a centralized dynamic leader-follower control algorithm which helped to reduce the possibility of kinematics inconsistency for multiple manipulators. A virtual linear spring model (VLSM) was presen

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34

Sano, Manabu, Takahiro Kosaki, and Satoshi Masuda. "Dwell Time Switching Control for Cooperative Work of Two Mobile Manipulators." IFAC Proceedings Volumes 33, no. 27 (2000): 243–48. http://dx.doi.org/10.1016/s1474-6670(17)37936-3.

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Onderová, Iveta, Viliam Čačko, Ľudovít Kolláth, Ľubomír Šooš, Andrej Smelík, and Alexander Varga. "PNEUMATIC SYSTEMS FOR AUTOMATIC SORTING EQUIPMENT." Acta Polytechnica 59, no. 6 (2019): 573–79. http://dx.doi.org/10.14311/ap.2019.59.0573.

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The aim of the research work was focused on a research of manipulators design using suction grippers. The results of the research can be applied in the design of jigs - manipulators for handling thin sheets. The FME analysis was used in the investigation to show the course of elastic deformations and stresses in stressed areas. An experimental observation of the change in the free deflection of the workpiece from the positioning of the suction cups under gravity load by means of a laser 3D scanner was carried out for the FEM deflection detection method.

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Lochan, Kshetrimayum, Binoy Krishna Roy, and Bidyadhar Subudhi. "Generalized projective synchronization between controlled master and multiple slave TLFMs with modified adaptive SMC." Transactions of the Institute of Measurement and Control 40, no. 4 (2016): 1049–71. http://dx.doi.org/10.1177/0142331216674067.

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The problem of projected work space trajectory synchronization for multiple two link flexible manipulators is considered here. Generalized projective synchronization between a controlled master and multiple slave manipulators is presented in this paper. The master and slave manipulators are non-identical. A low frequency chaotic signal and an exponentially varying signal are used as the desired trajectories. An equivalent sliding mode controller is designed for the master manipulator to track the desired trajectory. A modified adaptive equivalent sliding mode controller is designed for the sla

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37

Clempner, Julio B. "Manipulation Game Considering No-Regret Strategies." Mathematics 13, no. 2 (2025): 184. https://doi.org/10.3390/math13020184.

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This paper examines manipulation games through the lens of Machiavellianism, a psychological theory. It analyzes manipulation dynamics using principles like hierarchical perspectives, exploitation tactics, and the absence of conventional morals to interpret interpersonal interactions. Manipulators intersperse unethical behavior within their typical conduct, deploying deceptive tactics before resuming a baseline demeanor. The proposed solution leverages Lyapunov theory to establish and maintain Stackelberg equilibria. A Lyapunov-like function supports each asymptotically stable equilibrium, ens

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38

Zˇivanović, Milovan, and Miomir Vukobratović. "Control Laws synthesis of multi-arm cooperating robots with elastic interconnection at the contacts." Robotica 18, no. 2 (2000): 183–93. http://dx.doi.org/10.1017/s0263574799001940.

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The problem of the control of the object cooperative manipulation during the work of multiple non-redundant six degrees-of-freedom manipulators is considered in this paper. The problem of the cooperative manipulation control is, like all its problems, solvable only if the system is considered as the elastic one, taking into account all existing constraints. The controlled system is with the output number greater than the available number of inputs, therefore, in the first stage the desired motions are selected from the set of the possible nominal ones, containing the trajectories of the manipu

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39

Zhang, Yi, and Hongguang Wang. "Redundancy-Based Motion Planning with Task Constraints for Robot Manipulators." Sensors 25, no. 6 (2025): 1900. https://doi.org/10.3390/s25061900.

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Finding realistic motions for redundant manipulators is essential for complex jobs such as home care and industrial assembly. Motion planning is complex when a task requires standing upright or moving through restricted spaces. This work provides an effective motion-planning strategy for 7-DOF manipulators that improves connections via redundancy. The analytic Cartesian-space-to-joint-space kinematic mapping models for 7-DOF redundant manipulators with diverse configurations are constructed first, and the feasible nodes are determined by sampling the Cartesian space without barriers to satisfy

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40

Monisha, Pathak, and Mrinal Buragohain Dr. "Adaptive Sliding Mode Controller for Robotic Manipulator Tracking Control with Fuzzy Design." International Journal of Engineering and Advanced Technology (IJEAT) 11, no. 6 (2022): 164–67. https://doi.org/10.35940/ijeat.F3755.0811622.

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<strong>Abstract: </strong>This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. This work introduces design of Adaptive Fuzzy Controller based on sliding control principles for Robotic Manipulators. In the work, an adaptive fuzzy sliding mode control algorithm is proposed for tracking control of robot manipulators. The fuzzy system uses a set of fuzzy rules, the parameters of which are modified in real-time by adaptive laws, to approximate unknown nonlinearities. This makes it easier to direct the nonli

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41

Siqueira, A. A. G., and M. H. Terra. "Nonlinear controllers for underactuated cooperative manipulators." Robotica 25, no. 4 (2007): 425–32. http://dx.doi.org/10.1017/s0263574706003201.

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SUMMARYIn this paper, two nonlinear $\mathcal{H}_{\infty}$ control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators $\mathcal{H}_{\infty}$ control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual co

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Taheri, Moein. "Nonlinear dynamic modeling and optimal motion analysis of two-link manipulators." IAES International Journal of Robotics and Automation (IJRA) 5, no. 1 (2016): 61. http://dx.doi.org/10.11591/ijra.v5i1.pp61-66.

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<p>Manipulators are used in various industrial applications to perform variant operations such as conveying payloads. Regarding to their applications, dynamic modeling and motion analysis of manipulators are known as important and appealing tasks. In this work, nonlinear dynamics and optimal motion analysis of two-link manipulators are investigated. To dynamic modeling of the system, the Lagrange principle is employed and nonlinear dynamic equations of the manipulator are presented in state-space form. Then, optimal motion analysis of the nonlinear system is developed based on optimal co

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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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Munawar, Khalid, Masayoshi Esashi, and Masaru Uchiyama. "An approach towards decentralized control of cooperating non-autonomous multiple robots." Robotica 18, no. 5 (2000): 495–504. http://dx.doi.org/10.1017/s0263574799002386.

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This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi

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Nowosadzki, Michał, Andrzej Typiak, and Tomasz Muszyński. "Review of design solutions for manipulators and main areas of their application." Bulletin of the Military University of Technology 70, no. 3 (2021): 71–94. http://dx.doi.org/10.5604/01.3001.0015.8772.

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Manipulators are multi-part constructions whose members are connected by joints. The most common kinematic structure is the series structure. The effector at the end of the structure is a process head or a gripper. The most commonly used kinematic structure is a series structure, and the effector at the end of it is a technological head or a gripper. The area of application of manipulators is very wide and it de-termines the type of tools used, the kinematic structure, the drive system, and the base platform ‒ sta-tionary or mobile one. As industrial, medical, and research robots there are use

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Dudziak, Marian, Krzysztof Talaśka, Dominik Wilczyński, and Tomasz Marchwicki. "The Concept of Structure a Flexible Design and Manufacturing Method Focused on the Individual Production of Grippers." MATEC Web of Conferences 357 (2022): 01008. http://dx.doi.org/10.1051/matecconf/202235701008.

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The issues presented herein cover the design and manufacture of gripping devices. The main considerations include individual geometric and material solutions as well as specialized constructions intended for specific, custom and clearly defined orders. The work presents the concept of the design and manufacture of grippers, consisting of several basic, interconnected stages. The purpose thereof is the implementation of a flexible production system at a small enterprise Ankotech. An algorithm for design and manufacturing employing manipulators and Binar products has been proposed and presented.

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Yoshinada, Hiroshi, Kenji Okamura, and Shinich Yokota. "Master-Slave Control Method for Hydraulic Excavator." Journal of Robotics and Mechatronics 24, no. 6 (2012): 977–84. http://dx.doi.org/10.20965/jrm.2012.p0977.

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A new master-slave controlmethod is presented with a different configuration that will suit a hydraulic excavator operation. A new coordinate conversion method between master and slave manipulators is introduced. This method provides good agreement in direction of movement between master and slave manipulators in the almost entire work area without any mode change. The authors also developed a new 3-dimensional joystick as a master manipulator that has affinity with a conventional joystick and gives a comfortable feeling to conservative operators. In this paper, an outline of the new method is

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Ma, Chicheng, Dong Jing, Mingyu Shao, Hui Yu, and Zonghe Guo. "Dynamical analysis and control of rotatory manipulators with time varying mass loads." International Journal of Applied Electromagnetics and Mechanics 64, no. 1-4 (2020): 307–14. http://dx.doi.org/10.3233/jae-209335.

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Manipulators are widely used in industrial fields as automation equipment and robotic structures. Besides moving objects, manipulators often work with variable payloads, and the residual vibration significantly affects the position accuracy of manipulators. This paper mainly investigates the dynamic characteristics of flexible manipulators with time varying mass payloads and active control of the residual vibration is carried out. Finite element method is utilized to construct the dynamical model, and responses of the system are calculated by Bathe’s method. The influence of the time varying m

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Yu, Pengfei, Zihao Wang, and KC Wong. "Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors." International Journal of Micro Air Vehicles 11 (January 2019): 175682931987741. http://dx.doi.org/10.1177/1756829319877416.

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Inspired by talon of a predator bird, this paper presents a quadrotor with two 2- Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environ

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Lu, Yi, and Bo Hu. "A Unified Approach to Solving Driving Forces in Spatial Parallel Manipulators With Less Than Six DOFs." Journal of Mechanical Design 129, no. 11 (2006): 1153–60. http://dx.doi.org/10.1115/1.2771237.

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A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three translations and three Euler rotations are determined. Second, the common formulas for solving inverse kinematics, the Jacobian matrix, and velocity are derived. Third, a common virtual serial mechanism with three virtual prismatic joints and three virtual revolute joints corresponding to three Euler rotations is co

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