Gotowe bibliografie tematyczne / Articulated robotic manipulator

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Gotowa bibliografia na temat „Articulated robotic manipulator”

Autor: Grafiati

Data publikacji: 3 czerwca 2025

Data aktualizacji: 6 lipca 2025

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Artykuły w czasopismach na temat "Articulated robotic manipulator"

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 developed makes use of integrated actuators and rapid prototyping technology enabling easy replication for educational purposes. The robot arm has been used for manipulation tasks in its workspace successfully.

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Corves, Burkhard, and Amir Shahidi. "Kinematic Graph for Motion Planning of Robotic Manipulators." Robotics 11, no. 5 (2022): 105. http://dx.doi.org/10.3390/robotics11050105.

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We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinematic graph emphasises the fact that any path computed by sampling-based motion planning algorithms using a kinematic graph is guaranteed to correspond to a feasible motion for the positioning of the robotic manipulator. We propose methods to combine the information from the configuration and task spaces of the robotic manipulators to cluster the samples. The kinematic graph is the result of this systematic clustering and a tremendous reduction in the size of the problem. Hence, using a kinematic graph, it is possible to effectively employ sampling-based motion planning algorithms for robotic manipulators, where the problem is defined in higher dimensions than those for which these algorithms were developed. Other barriers that hindered adequate utilisation of such algorithms for robotic manipulators with articulated arms, such as the non-injective surjection of the forward kinematic function, are also addressed in the structure of the kinematic graph.

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Giang, Truong Thi Huong, and Young-Jae Ryoo. "Autonomous Robotic System to Prune Sweet Pepper Leaves Using Semantic Segmentation with Deep Learning and Articulated Manipulator." Biomimetics 9, no. 3 (2024): 161. http://dx.doi.org/10.3390/biomimetics9030161.

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This paper proposes an autonomous robotic system to prune sweet pepper leaves using semantic segmentation with deep learning and an articulated manipulator. This system involves three main tasks: the perception of crop parts, the detection of pruning position, and the control of the articulated manipulator. A semantic segmentation neural network is employed to recognize the different parts of the sweet pepper plant, which is then used to create 3D point clouds for detecting the pruning position and the manipulator pose. Eventually, a manipulator robot is controlled to prune the crop part. This article provides a detailed description of the three tasks involved in building the sweet pepper pruning system and how to integrate them. In the experiments, we used a robot arm to manipulate the pruning leaf actions within a certain height range and a depth camera to obtain 3D point clouds. The control program was developed in different modules using various programming languages running on the ROS (Robot Operating System).

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Bamdad, Mahdi, and M. Mehdi Bahri. "Kinematics and Manipulability Analysis of a Highly Articulated Soft Robotic Manipulator." Robotica 37, no. 5 (2019): 868–82. http://dx.doi.org/10.1017/s0263574718001376.

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SummaryRecently, the idea of applying “jamming” of appropriate media has been exploited for a novel continuum robot design. It is completed by applying vacuum in a robot structure filled with granular media. The backbone deformation and motion are achieved by controlling the fluid pressure. A jammable robotic manipulator does not certainly follow constant curvature during bending, that is, gravitational loads cause section sag. The kinematics describes the deformation of continuum manipulators. This formulation is expected to facilitate additional synthesis and analysis on workspace. This paper presents a Jacobian-based approach to obtain the forward kinematics solution. The proposed kinematic formulation in this paper tries to combine the key advantages of the techniques in constant curvature and variable curvature models. Hence, the deformation of any arbitrary bending is modeled. The workspace synthesis is continued by kinematic analysis, and in this regard, the manipulability measure is computed. This is an important improvement when compared with existing work for this kind of manipulators. It shows how manipulability measure can determine the workspace quality, where usually reachability is used for robot’s capabilities representation. As a result, the forward kinematics and manipulability analysis based on a piecewise-constant-curvature approximation are discussed in the simulation. The simulation has been carried out according to the fabricated experimental robot.

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Chukwuemeka, C. Obasi, A. Braimoh Ikharo, Odaba Alphaeus, Iyase Ogbewey Leonard, and A. Oluyomi Bambe. "Dynamics of 3 – Links Articulated Robotic Manipulator: A Computational Model." International Journal of Engineering and Advanced Technology (IJEAT) 9, no. 3 (2020): 1911–15. https://doi.org/10.35940/ijeat.C5370.029320.

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Dynamic computation include the process of determining the forces and energies that would cause a manipulator to move certain distance at a given angle. The complex nature of available materials has made this process difficult. The dynamics equation for a 3-links robotic manipulator was designed using the Lagrange archetypal. The result shows that the energies (including Potential and Kinetic Energy) as well as the torques required to cause motion at each joint can be computed separately. The torque equations represents the dynamic models required.

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CHEN, CHUXIN, and MOHAN M. TRIVEDI. "SAVIC: A SIMULATION, VISUALIZATION AND INTERACTIVE CONTROL ENVIRONMENT FOR MOBILE ROBOTS." International Journal of Pattern Recognition and Artificial Intelligence 07, no. 01 (1993): 123–44. http://dx.doi.org/10.1142/s021800149300008x.

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A Simulation, Animation, Visualization and Interactive Control (SAVIC) environment has been developed for the design and operation of an integrated robotic manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This research is focused on enhancing the overall productivity of an integrated human-robot system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

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Soylu, Serdar, Bradley J. Buckham, and Ron P. Podhorodeski. "USING ARTICULATED BODY ALGORITHM WITHIN SLIDING-MODE CONTROL TO COMPENSATE DYNAMIC COUPLING IN UNDERWATER-MANIPULATOR SYSTEMS." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (2005): 629–43. http://dx.doi.org/10.1139/tcsme-2005-0041.

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A control scheme is presented for compensating dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle position and orientation and are the source of the vehicle-manipulator coupling. In many underwater robotic vehicle-manipulator (URVM) applications, the URV serves as a base while the manipulator performs a required task. Therefore, it is necessary to hold the URV as stationary as possible. In the current work, Slotine’s sliding mode control approach is used to compensate the dynamic effect of the underwater manipulator on the URV. The articulated body (AB) algorithm is used both for the time-domain simulation of the system and for the dynamic equations within the model-based sliding-mode controller. The AB algorithm is preferred for the time-domain system simulation, as it provides a computationally efficient simulation scheme. Finally, a three DOF manipulator mounted on a URV is considered, and results of time-domain numerical simulations of the proposed control scheme are presented.

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Sujan, Vivek A., and Steven Dubowsky. "Design of a Lightweight Hyper-Redundant Deployable Binary Manipulator." Journal of Mechanical Design 126, no. 1 (2004): 29–39. http://dx.doi.org/10.1115/1.1637647.

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This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The BRAID is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom, and has a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks, and requires minimal control computation and power resources.

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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 negligible dynamics in the dynamic modeling of the manipulator for robust joint torque control. Hence, a complete dynamic model of the manipulator which involves the link dynamics plus actuator dynamics was proposed. This paper focuses on the modeling of a 3DOF articulated manipulator based on independent joint (decentralized) scheme and the determination of the viscous damping coefficient for the joint torque control model. The independent joint model provides closer mathematical description of the manipulator and also enhances robust controller design. Joint damping coefficient B, was determined through experiment based on bode plot of the open loop gain. From the results, it was concluded that joints I and II achieved the best performance when B is 0.001N.m/rad /sec and 0.01N.m/rad /sec respectively.

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Fue, Kadeghe, Wesley Porter, Edward Barnes, Changying Li, and Glen Rains. "Center-Articulated Hydrostatic Cotton Harvesting Rover Using Visual-Servoing Control and a Finite State Machine." Electronics 9, no. 8 (2020): 1226. http://dx.doi.org/10.3390/electronics9081226.

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Multiple small rovers can repeatedly pick cotton as bolls begin to open until the end of the season. Several of these rovers can move between rows of cotton, and when bolls are detected, use a manipulator to pick the bolls. To develop such a multi-agent cotton-harvesting system, each cotton-harvesting rover would need to accomplish three motions: the rover must move forward/backward, turn left/right, and the robotic manipulator must move to harvest cotton bolls. Controlling these actions can involve several complex states and transitions. However, using the robot operating system (ROS)-independent finite state machine (SMACH), adaptive and optimal control can be achieved. SMACH provides task level capability for deploying multiple tasks to the rover and manipulator. In this study, a center-articulated hydrostatic cotton-harvesting rover, using a stereo camera to locate end-effector and pick cotton bolls, was developed. The robot harvested the bolls by using a 2D manipulator that moves linearly horizontally and vertically perpendicular to the direction of the rover’s movement. We demonstrate preliminary results in an environment simulating direct sunlight, as well as in an actual cotton field. This study contributes to cotton engineering by presenting a robotic system that operates in the real field. The designed robot demonstrates that it is possible to use a Cartesian manipulator for the robotic harvesting of cotton; however, to reach commercial viability, the speed of harvest and successful removal of bolls (Action Success Ratio (ASR)) must be improved.

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Rozprawy doktorskie na temat "Articulated robotic manipulator"

LIN, CHIEN-CHUNG, and 林建中. "Error Analysis and Scheduling for Articulated Robotic Manipulator." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/46075914497970405659.

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碩士 逢甲大學 機械工程學所 93 This paper presents motion analysis and path scheduling to determine error and direction by using simulated way when a articulated manipulator of three links machining. The process includes position error analysis, direction scheduling, data extraction, and additional part feeder so that the previous error can be introduced to improve the accuracy. Comparing with the original path, the approximated errors can be reduced by the inverted scheme. On the basis of the concept of data extraction, we also establish a data base, which is a benefit for CAM for cutting manufacture.

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Katz, Dov. "Interactive perception of articulated objects for autonomous manipulation." 2011. https://scholarworks.umass.edu/dissertations/AAI3482710.

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This thesis develops robotic skills for manipulating novel articulated objects. The degrees of freedom of an articulated object describe the relationship among its rigid bodies, and are often relevant to the object's intended function. Examples of everyday articulated objects include scissors, pliers, doors, door handles, books, and drawers. Autonomous manipulation of articulated objects is therefore a prerequisite for many robotic applications in our everyday environments. Already today, robots perform complex manipulation tasks, with impressive accuracy and speed, in controlled environments such as factory floors. An important characteristic of these environments is that they can be engineered to reduce or even eliminate perception. In contrast, in unstructured environments such as our homes and offices, perception is typically much more challenging. Indeed, manipulation in these unstructured environments remains largely unsolved. We therefore assume that to enable autonomous manipulation of objects in our everyday environments, robots must be able to acquire information about these objects, making as few assumption about the environment as possible. Acquiring information about the world from sensor data is a challenging problem. Because there is so much information that could be measured about the environment, considering all of it is impractical given current computational speeds. Instead, we propose to leverage our understanding of the task, in order to determine the relevant information. In our case, this information consists of the object's shape and kinematic structure. Perceiving this task-specific information is still challenging. This is because in order to understand the object's degrees of freedom, we must observe relative motion between its rigid bodies. And, as relative motion is not guaranteed to occur, this information may not be included in the sensor stream. The main contribution of this thesis is the design and implementation of a robotic system capable of perceiving and manipulating articulated objects. This system relies on Interactive Perception, an approach which exploits the synergies that arise when crossing the boundary between action and perception. In interactive perception, the emphasis of perception shifts from object appearance to object function. To enable the perception and manipulation of articulated objects, this thesis develops algorithms for perceiving the kinematic structure and shape of objects. The resulting perceptual capabilities are used within a relational reinforcement learning framework, enabling a robot to obtain general domain knowledge for manipulation. This composition enables our robot to reliably and efficiently manipulate novel articulated objects. To verify the effectiveness of the proposed robotic system, simulated and real-world experiments were conducted with a variety of everyday objects.

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"Interactive control of articulated structures in the virtual space." 1998. http://library.cuhk.edu.hk/record=b5889598.

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by Kwok Lai Ho Victor. Thesis (M.Phil.)--Chinese University of Hong Kong, 1998. Includes bibliographical references (leaves 77-82). Abstract also in Chinese. Chapter 1 --- Introduction --- p.1 Chapter 2 --- Background --- p.5 Chapter 2.1 --- History of Robotics --- p.5 Chapter 2.2 --- Autonomous Robot Systems --- p.7 Chapter 2.3 --- 3D Windowing Simulators --- p.8 Chapter 2.4 --- Robot Simulation in VR --- p.8 Chapter 3 --- Objective --- p.11 Chapter 4 --- Articulated Structures --- p.13 Chapter 4.1 --- Joints and links --- p.13 Chapter 4.2 --- Degrees of Freedom --- p.16 Chapter 4.3 --- Denavit-Hartenberg Notation --- p.17 Chapter 5 --- Virtual Manipulators --- p.20 Chapter 5.1 --- Arm(N-link) Structure --- p.20 Chapter 5.2 --- Hand Model --- p.24 Chapter 6 --- Motion Control Techniques --- p.27 Chapter 6.1 --- Kinematics --- p.27 Chapter 6.1.1 --- Forward Kinematics --- p.27 Chapter 6.1.2 --- Inverse Kinematics --- p.29 Chapter 6.1.3 --- Solving Kinematics Problem --- p.29 Chapter 6.1.4 --- Redundancy --- p.31 Chapter 6.1.5 --- Singularities --- p.32 Chapter 6.2 --- Dynamics --- p.33 Chapter 6.2.1 --- Forward Dynamics --- p.34 Chapter 6.2.2 --- Inverse Dynamics --- p.35 Chapter 6.3 --- Combination of Two Control Modes --- p.35 Chapter 6.4 --- Constraints and Optimization --- p.36 Chapter 7 --- Physical Feedback Systems --- p.38 Chapter 7.1 --- Touch Feedback --- p.39 Chapter 7.2 --- Force Feedback --- p.41 Chapter 7.3 --- Force/Touch Feedback Systems --- p.42 Chapter 8 --- Virtual Object Manipulation --- p.43 Chapter 8.1 --- Previous Work --- p.44 Chapter 8.2 --- Physics-based Virtual-hand Grasping --- p.45 Chapter 8.3 --- Visual Correction --- p.43 Chapter 8.3.1 --- Joint Correction --- p.50 Chapter 8.3.2 --- Odd Finger Configurations --- p.51 Chapter 8.4 --- Active Grasping --- p.52 Chapter 8.5 --- Collision Detection of Complex Objects --- p.54 Chapter 9 --- Experiments --- p.57 Chapter 9.1 --- System Architecture --- p.57 Chapter 9.1.1 --- Tracking System --- p.53 Chapter 9.1.2 --- Glove System --- p.59 Chapter 9.1.3 --- Host Computer --- p.60 Chapter 9.2 --- Experimental Results --- p.60 Chapter 9.2.1 --- General application --- p.61 Chapter 9.2.2 --- Relationship between frictional coefficient and mass of the object --- p.61 Chapter 10 --- Conclusions --- p.67 Chapter 10.1 --- Summary --- p.67 Chapter 10.2 --- Contributions --- p.69 Chapter 10.3 --- Future Work --- p.69 Chapter A --- Description files --- p.71 Chapter A.1 --- Scene Description --- p.71 Chapter A.2 --- Hand Description --- p.73 Bibliography --- p.77

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(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.

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In this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.

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Książki na temat "Articulated robotic manipulator"

Chan, K. K. Genetic-based motion planning for articulated robotic manipulators. University of Sheffield, Dept. of Automatic Control and Systems Engineering, 1993.

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Huang, Jen-Kuang. Large planar maneuvers for articulated flexible manipulators: Progress report. Dept. of Mechanical Engineering and Mechanics, College of Engineering and Technology, OId Dominion University, 1988.

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Malachowski, M. J. Beam rider for an articulated robot manipulator (ARM): Accurate positioning of long flexible manipulators. National Aeronautics and Space Administration, [Lewis Research Center, 1990.

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Siciliano, Bruno. Advances in Control of Articulated and Mobile Robots. Gardners Books, 2010.

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Cutkosky, Mark R. Reach, grasp, and manipulate. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0030.

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This chapter seeks to identify principles that we can glean from nature regarding the design and operation of hands, and to show how they influence robotic hands and can improve their performance. The need to grasp and manipulate objects is faced by a wide range of animals, from insects to humans. The corresponding variety of solutions is immense, ranging from pincers to hands. However, a number of strategies appear repeatedly including the use of compliant, articulated appendages to achieve a large workspace and the use of automatic responses to tactile stimuli. Mobile robots face similar challenges and can exploit similar solutions. Numerical simulation is useful for analyzing hands that are required to grasp a range of objects and impart desired forces and motions. However, grasp simulation is inherently complex and the design search space is large. Hence, it is useful to examine natural exemplars to guide the design process.

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Części książek na temat "Articulated robotic manipulator"

Valsamos, C., A. Wolniakowski, K. Miatliuk, and V. C. Moulianitis. "Minimization of Joint Velocities During the Execution of a Robotic Task by a 6 D.o.F. Articulated Manipulator." In Advances in Service and Industrial Robotics. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-00232-9_39.

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Fraize, G., J. Vertut, and R. Hugon. "Coverage Optimization of Articulated Manipulators." In Theory and Practice of Robots and Manipulators. Springer US, 1985. http://dx.doi.org/10.1007/978-1-4615-9882-4_37.

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Nguyen, Vu Linh, and Chin-Hsing Kuo. "A Modularization Approach for Gravity Compensation of Planar Articulated Robotic Manipulators." In Gravity Compensation in Robotics. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-95750-6_1.

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Linh, Nguyen Vu, and Chin-Hsing Kuo. "Performance Evaluation of a Class of Gravity-Compensated Gear-Spring Planar Articulated Manipulators." In Robotics and Mechatronics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_3.

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Blank, Andreas, Lukas Zikeli, Sebastian Reitelshöfer, Engin Karlidag, and Jörg Franke. "Augmented Virtuality Input Demonstration Refinement Improving Hybrid Manipulation Learning for Bin Picking." In Lecture Notes in Mechanical Engineering. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-18326-3_32.

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AbstractBeyond conventional automated tasks, autonomous robot capabilities aside human cognitive skills are gaining importance in industrial applications. Although machine learning is a major enabler of autonomous robots, system adaptation remains challenging and time-consuming. The objective of this research work is to propose and evaluate an augmented virtuality-based input demonstration refinement method improving hybrid manipulation learning for industrial bin picking. To this end, deep reinforcement and imitation learning are combined to shorten required adaptation timespans to new components and changing scenarios. The method covers initial learning and dataset tuning during ramp-up as well as fault intervention and dataset refinement. For evaluation standard industrial components and systems serve within a real-world experimental bin picking setup utilizing an articulated robot. As part of the quantitative evaluation, the method is benchmarked against conventional learning methods. As a result, required annotation efforts for successful object grasping are reduced. Thereby, final grasping success rates are increased. Implementation samples are available on: https://github.com/FAU-FAPS/hybrid_manipulationlearning_unity3dros

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Song, Yimin, Yang Qi, and Tao Sun. "Conceptual Design and Kinematic Analysis of a Novel Parallel Manipulator with an Articulated Gripping Platform." In Advances in Reconfigurable Mechanisms and Robots II. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23327-7_38.

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Vassura, Gabriele, and Antonio Bicchi. "Whole-Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts to Increase Dexterity." In Robots and Biological Systems: Towards a New Bionics? Springer Berlin Heidelberg, 1993. http://dx.doi.org/10.1007/978-3-642-58069-7_10.

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Naranje, Rajratna A., Kalyan J. Kale, Pranavkumar P. Chavan, Vishant Kumar, and Naveen Kumar. "Development of 5 Axis Robotic Manipulator for Material Handling and Sorting." In Advances in Transdisciplinary Engineering. IOS Press, 2024. http://dx.doi.org/10.3233/atde240672.

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The creation and application of a 5-axis robotic arm intended for material handling and sorting tasks is shown in this work. Our 5 Degree of Freedom (DOF) robotic manipulator prototype was developed in response to the growing use of robotics in many industries to solve difficult problems. Now industries are using Robots in place of CNC machines. The manipulator’s mobility is controlled using programming that makes use of open-source technology, particularly Arduino. Furthermore, to guarantee sufficient lifting capability, we integrated servo motors with different torque specifications at each joint and used Fused Deposition Modeling (FDM) 3D printing technology to fabricate the hardware components. Because of the use of the open source technology, low cost microcontroller (Arduion), and servo motor, the developed 5 DOF robotic manipulator is cost effective and reliable. For the study and research of transformation matrices, kinematics, and other related robotics issues, this articulated robotic arm is a useful tool.

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Lim, Wen Bin, Guilin Yang, Song Huat Yeo, and Shabbir Kurbanhusen Mustafa. "Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation." In Service Robots and Robotics. IGI Global, 2012. http://dx.doi.org/10.4018/978-1-4666-0291-5.ch015.

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A Cable-Driven Robotic Arm (CDRA) possesses a number of advantages over the conventional articulated robotic arms, such as lightweight mechanical structure, high payload, fault tolerance, and most importantly, safe manipulation in the human environment. As such, a mobile manipulator that consists of a mobile base and a CDRA can be a promising assistive robot for the aging or disabled people to perform necessary tasks in their daily life. For such applications, a CDRA is a dexterous manipulator that consists of a number of cable-driven joint modules. In this chapter, a modular design concept is employed in order to simplify design, analysis, and control of CDRA to a manageable level. In particular, a 2-DOF cable-driven joint module is proposed as the basic building block of a CDRA. The critical design analysis issues pertaining to the kinematics analysis, tension analysis, and workspace-based design optimization of the 2-DOF cable-driven joint module are discussed. As a modular CDRA can be constructed into various configurations, a configuration-independent kinematic modeling approach based on the Product-of-Exponentials (POE) formula is proposed. The effectiveness of the proposed design analysis algorithms are demonstrated through simulation examples.

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Jung David L., Dixon Warren E., and Pin François G. "Automated Kinematic Generator for Surgical Robotic Systems." In Studies in Health Technology and Informatics. IOS Press, 2004. https://doi.org/10.3233/978-1-60750-942-4-144.

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Unlike traditional assembly line robotic systems that have a fixed kinematic structure associated with a single tool for a structured task, nextgeneration robotic surgical assist systems will be required to use an array of endeffector tools. Once a robot is connected with a tool, the kinematic equations of motion are altered. Given the need to accommodate evolving surgical challenges and to alleviate the restrictions imposed by the confined minimally invasive environment, new surgical tools may resemble small flexible snakes rather than rigid, cable driven instruments. Connecting to these developing articulated tools will significantly alter the overall kinematic structure of a robotic system. In this paper we present a technique for real-time automated generation and evaluation of manipulator kinematic equations that exhibits the combined advantages of existing. methods-speed and flexibility to kinematic change &ndash; without their disadvantages.

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Streszczenia konferencji na temat "Articulated robotic manipulator"

Yu, Qiaojun, Junbo Wang, Wenhai Liu, et al. "GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610652.

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Xia, Wenke, Dong Wang, Xincheng Pang, et al. "Kinematic-aware Prompting for Generalizable Articulated Object Manipulation with LLMs." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610744.

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Wang, Junbo, Wenhai Liu, Qiaojun Yu, et al. "RPMArt: Towards Robust Perception and Manipulation for Articulated Objects." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10802368.

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Sun, Jiali, Kaidi Wang, Chuanbeibei Shi, et al. "Modeling and Control of PADUAV: a Passively Articulated Dual UAVs Platform for Aerial Manipulation^*." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610094.

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Ling, Suhan, Yian Wang, Ruihai Wu, et al. "Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise." In 2024 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610593.

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Fujie, Hiromichi, and Hitoshi Yagi. "Novel Robotic System for Joint Mechanical Tests Using Velocity-Impedance Control." In ASME 2011 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2011. http://dx.doi.org/10.1115/sbc2011-53884.

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The first study as regard with the application of robotic technology to the field of joint biomechaics was reported more than 20 years ago1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies1–4). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS)5). Referring to the robotic system, the present study was aimed to develop a novel robotic system of rigid body/structure that allows a high-rate displacement/force control of the knee using a velocity-impedance control.

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Ghnem, A., and T. Saleh. "Three DoF articulated robotic manipulator for teaching and learning." In 8th International Conference on Mechatronics Engineering (ICOM 2022). Institution of Engineering and Technology, 2022. http://dx.doi.org/10.1049/icp.2022.2264.

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Fujie, Hiromichi, Kei Kimura, and Satoshi Yamakawa. "Static and Dynamic Properties of a 6-DOF Robotic System for Knee Joint Biomechanics Study." In ASME 2013 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/sbc2013-14849.

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The application of robotic technology to the field of joint biomechaics has started more than 20 years ago 1). Since then, a variety of studies have employed commercially available articulated manipulators for the joint biomechanical studies 1–5). However, such articulated manipulators are generally poor at stiffness and precision although they were basically designed to achieve high speeds of motion while performing tasks in a large work space. To solve the problem, we have previously developed a robotic system consisting of a custom-made 6-degree of freedom (6-DOF) manipulator and a universal force-moment sensor (UFS) 6). The present study was aimed to evaluate the static and dynamic properties of the system.

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Seow, Chi Min, Wei Jian Chin, and Carl A. Nelson. "Robot Kinematic Design Studies for Natural Orifice Surgery." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47961.

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This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.

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Shen, Tao, Kevin Warburton, Carl A. Nelson, and Dmitry Oleynikov. "Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34369.

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This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

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