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Teses / dissertações sobre o tema "A-ARM"

Autor: Grafiati

Publicado: 14 de março de 2023

Última modificação: 26 de julho de 2025

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1

On, Calvin. "ANA : a method for ARM-on-ARM execution." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/45973.

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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.<br>Includes bibliographical references (p. 61-62).<br>This thesis proposes and implements ANA, a new method for the simulation of ARM programs on the ARM platform. ANA is a lightweight ARM instruction interpreter that uses the hardware to do a lot of the work for the read-decode-execute piece of simulation. We compare this method to the two existing methods of full simulation and direct execution that have been traditionally used to achieve this. We demonstrate that despite some

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2

BATOR, CHRISTOFFER, and RICKARD SVENSSON. "Exoskeleton arm : How to construct a smart support structure for an arm." Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190843.

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The purpose of this thesis was to find an optimal way to construct and control a product that could help those who suffer from muscle weakness or a muscle sickness. The device was made out of two major parts (upper arm and lower arm) which were connected through a motorized joint. The focus was on finding a satisfying construction that could handle the forces and with the help of sensors measure movement of the users arm relative to the construction and then control it using that information. The device needed to be fast and reliable and react to small movements to be as comfortable for the us

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3

Hägg, Magnus. "Controlling a robotic arm using linux." Thesis, Mälardalen University, School of Innovation, Design and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7546.

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4

EDSTRÖM, JACOB, and JONATHAN GUNNARSSON. "Balancing arm for a Robotic Waiter." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191211.

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This project focuses on balancing a drinking glass, to be able to transport it without the contents being spilled. It is designed with the aim of replacing a waiter in a restaurant or bar environment, but the technology itself could well be applied on mobile cup holders in cars or boats for instance. The core of the project is to study how and if it is possible to create a platform capable of balancing a drinking glass when exposed to different acceleration forces. This report describes one way of constructing this cup holder, with explanations of how the hardware has been designed and put tog

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5

Issa, Alan, and Christos Andreanidis. "Wireless Control of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295847.

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This paper looks at all aspects of developing a robotic arm and hand that consists of five fingers which is able to imitate human movements. The imitation ability, accuracy and factors affecting both points are studied. A project like this requires the interplay of various electrical components to achieve the desired results.The prototype constructed measured the controller’s movements of the fingers with the help of flex sensors. The movements in the elbow and wrist however were measured with the help of potentiometers. The flex sensors and potentiometers were connected to an Arduino Mega whi

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6

Leeb, Adam Paul. "Anthro Arm : the design of a seven degree of freedom arm with human attributes." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40458.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.<br>Includes bibliographical references (leaf 24).<br>Studying biological systems has given robotics researchers valuable insight into designing complex systems. This thesis explores one such application of a biomimetic robotic system designed around a human arm. The design of an anthropomorphic arm, an arm that is similar to that of a human's, requires deep insight into the kinematics and physiology of the biological system. Investigated here is the design and completion of an arm with 7 degrees of fre

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7

Bersvendsen, Jørn. "Control of a multifunction Arm Prosthesis Model." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-14176.

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In this thesis a working control system for a 7 degrees of freedom hand prosthesis model controlled by electromyographic and accelerometer signals has been developed.The complete system consists of a wireless EMG and accelerometer measurement system, two National Instruments data acquisition modules, a desktop computer, a Lego Mindstorms NXT brick and a hand model with 7 motorized degrees of freedom.The controller is based on pattern recognition and signal classification.Several different EMG features for this purpose are presented and implemented.Two different linear classifiers were used and

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8

Jassemi-Zargani, Rahim. "Impedance control of a dual-arm robot." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq28348.pdf.

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9

Shiek, David. "From coast guards to a strategic arm." Thesis, King's College London (University of London), 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.416120.

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10

Anders, Ariel (Ariel Sharone). "Learning a strategy for whole-arm grasping." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/91034.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>23<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (pages 69-71).<br>Traditionally, robot grasping has been approached in two separate phases: first, finding contact positions that yield optimal grasps and, then, moving the robot hand to these positions. This approach works well

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11

Lidholm, Carl-Victor, and Victor Runnquist. "Accuracy and Repeatability of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296167.

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The purpose of this project was to create a model of a robotic arm with 4-DOF equipped with a gripper that is able to move an object to a predetermined area. This thesis investigated the robotic arm’s accuracy by repeating the same predetermined movement and measure the error. The error was measured based on the objects displacement from the target area after a series of repeated movements by the arm. After constructing the robotic arm, an experiment was set up to measure the accuracy and repeatability of the arm. The robot achieved 2.506 mm to 0.922 mm for accuracy and 5.995 mm to 4.059 mm fo

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12

Laghi, Marco. "Passive based control on a kuka arm." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/8435/.

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L'interazione in maniera sicura e compliante è una caratteristica sempre più richiesta per i sistemi robotici. La modellazione di sistemi eseguita tramite l'uso di sistemi port-Hamiltoninani permette di comprendere cosa avviene a livello energetico durante l'interazione e aiuta nella progettazinoe di un controllore tale che il comportamento del sistema controllato sia passivo e sicuro durante essa. Ciò sfocia nel cosiddetto Controllore Intrinsicamente Passivo (IPC). Dal momento che questo un controllo impone la rigidezza desiderata al sistema controllato, è possibile, tra le altre cose, replic

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13

Marchand, Pauline Anne. "Simulation and adaptive control of a robot arm." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25118.

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The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dy

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14

Engardt, Max, Axel Heimburger, and Philip Sydhoff. "Manipulability Index Optimization for a Planar Robotic Arm." Thesis, KTH, Optimeringslära och systemteori, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-103810.

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It is of interest to have high manipulability in robotic manipulators in order to achieve high performance. In this report, a model of a robotic arm manipulator is de ned and analyzed with focus on optimizing the manipulability. The kinematics for the robotic ma- nipulator is used to de ne quantitative measures of manipulability, manipulability indices . Analytical results for dierent manipulability indices are derived. It is shown that a common feature of the indices is that they are independent of the rst angle of the robotic arm. Using numerical optimization, the manipulability measure is o

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15

Paul, Douglas James. "Parallel microcomputer control of a 3DOF robotic arm." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/18371.

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16

Norder, Petter, and Björn Sandegård. "Realization of a downscaled pendulum-arm suspended forwarder." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-182997.

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Almost all logging in Sweden is carried out by the Cut-To-Length method. The method is carried out by two machines, a harvester and a forwarder. The forwarder transports the cut logs from the forest to a landing area for further transportation. Due to the uneven ground, the operators are subjected to high amplitude vibrations and the vehicle damages the ground soil when the pressure is unevenly distributed between the vehicles wheels. In an endeavor to decrease soil damage and increase the comfort for the operator, Skogforsk in collaboration with eXtractor is developing a pendulum arm suspende

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17

Eranki, Venkata Krishna Prashanth, and Gurudu Rishank Reddy. "Design and Structural Analysis of a Robotic Arm." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-13834.

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Automation is creating revolution in the present industrial sector, as it reduces manpower and time of production. Our project mainly deals around the shearing operation, were the sheet is picked manually and placed on the belt for shearing which involves risk factor. Our challenge is designing of pick and place operator to carry the sheet from the stack and place it in the shearing machine for the feeding. We have gone through different research papers, articles and had observed the advanced technologies used in other industries for the similar operation. After related study we have achieved

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18

Oberlechner, Steve A. "Arm-wrestling the slipstream a collection of stories /." Morgantown, W. Va. : [West Virginia University Libraries], 2003. http://etd.wvu.edu/templates/showETD.cfm?recnum=3086.

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19

Kracht, Aaron Arthur. "A Linear Base Articulated Robot Arm for Surgical Endoscopy." NCSU, 2006. http://www.lib.ncsu.edu/theses/available/etd-05152006-160438/.

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This project involved developing a surgical robot assistant using an articulated robot running on a linear axis. The research concentrated on studying the localization of an endoscopic tool. The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator. Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task. For this system, error was used as the performance metric. Positioning of t

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20

Opong, George Kofi. "Design of a six-degree-of-freedom mechanical arm." Ohio : Ohio University, 1985. http://www.ohiolink.edu/etd/view.cgi?ohiou1184071995.

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21

Jacinto, Arturo II. "Unmanned systems: a lab-based robotic arm for grasping." Thesis, Monterey, California: Naval Postgraduate School, 2015. http://hdl.handle.net/10945/45879.

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Approved for public release; distribution is unlimited<br>This thesis implements the development of a Robotic Manipulation Laboratory to explore learning opportunities for various student experiments including the initial selection, startup and development of the Robotic arm and glove controller. The Robotic Manipulation Laboratory consists of a 6 Degree of Freedom robotic arm and a resistive glove controller that allows students to achieve hands-on understanding of the physics required to fabricate and maneuver a robotic arm. The Kinova JACO robotic arm was selected for its smooth operation,

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22

Mardas, Constantinos. "Adaptive control in positioning a rigid-flexible robot arm." Thesis, Monterey, California. Naval Postgraduate School, 1988. http://hdl.handle.net/10945/22857.

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The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulatio

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23

Al-Annaz, Sa'ad Shakir. "The dynamics and vibration control of a flexible arm." Thesis, University of Newcastle Upon Tyne, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.336267.

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24

Simon, D. G. "A new sensor for robot arm and tool calibration." Thesis, University of Surrey, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266337.

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25

Khalil, Tamer. "A novel anthropometric master slave arm system for telepresence." Thesis, University of Strathclyde, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248543.

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26

Gano, Selam. "Characterizing reaction bandwidths in a position-controlled robotic arm." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119957.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (page 11).<br>Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force ba

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27

An, Chae-hun. "Trajectory and force control of a direct drive arm." Thesis, Massachusetts Institute of Technology, 1986. http://hdl.handle.net/1721.1/15080.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1986.<br>MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING<br>Bibliography: leaves 155-160.<br>by Chae Hun An.<br>Ph.D.

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28

Bergstrand, Johan. "Arm motion and deformation of a real-time character." Thesis, Luleå tekniska universitet, Institutionen för konst, kommunikation och lärande, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-69590.

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The anatomy of the human body is important in both the video game and the VFX industry. Whenever a limb is bending or moving, there are several different muscles working for this to happen. This work will look at the re-topology of the arm and the moving anatomy around the bending and twisting areas of the arm. A method will be done were three different re-topologies of a muscular arm will be created. These arms will be deformed with common arm movements/animations to find better or worse retopology methods.<br>Anatomin i den mänskliga kroppen är viktig i både tv spels och VFX branschen. När e

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29

Tang, Chen. "Design of a Gravity Compensation Actuator for Arm Assistance." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/82201.

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This thesis presents the design, simulation, and evaluation of a passive, wearable, and human-scale actuator that includes pulleys and uses polymers for energy storage. Repetitive tasks such as packing boxes on an assembly line may require high strength movements of the shoulder, arm, and hand and may result in musculoskeletal disorders. With the objective to offset the weight of the arm and thereby lower the forces on the muscles in the shoulder and arm, this actuator is able to provide gravity compensation for the upper extremities of workers, if used in conjunction with an arm exoskeleton.

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Chang, Yu-Wei. "Sample Size Determination for a Three-arm Biosimilar Trial." Diss., Temple University Libraries, 2014. http://cdm16002.contentdm.oclc.org/cdm/ref/collection/p245801coll10/id/298932.

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Statistics<br>Ph.D.<br>The equivalence assessment usually consists of three tests and is often conducted through a three-arm clinical trial. The first two tests are to demonstrate the superiority of the test treatment and the reference treatment to placebo, and they are followed by the equivalence test between the test treatment and the reference treatment. The equivalence is commonly defined in terms of mean difference, mean ratio or ratio of mean differences, i.e. the ratio of the mean difference of the test and placebo to the mean difference of the reference and placebo. In this dissertatio

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31

Lucas, Michael. "A biological control model of a one-link neuromusculoskeletal sagittal arm." Connect to resource, 2006. http://hdl.handle.net/1811/5994.

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Thesis (Honors)--Ohio State University, 2006.<br>Title from first page of PDF file. Document formattted into pages: contains 71 p.; also includes graphics. Includes bibliographical references (p. 70-71). Available online via Ohio State University's Knowledge Bank.

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32

Nilsson, Philip. "Topology optimization of a swing arm for a track driven vechile." Thesis, Umeå universitet, Institutionen för fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149608.

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The development in additive manufacturing methods has cleared the path for topology optimizationby making it possible to produce complex geometries, which would not be possible to produce bytraditional manufacturing methods. Topology optimization uses iterative structural computations tond an optimal material distribution given a maximum optimization domain, load cases and/or otherstructural criteria. The relation between retained mass and structural performance of a swing armfor the vehicle BvS10 was examined for two different materials. The first material was an estimate of an additive manuf

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33

Connell, Jonathan H. "A Behavior-Based Arm Controller." 1988. http://hdl.handle.net/1721.1/6047.

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In this paper we describe a working, implemented controller for a real, physical mobile robot arm. The controller is composed of a collection of 15 independent behaviors which run, in real time, on a set of 8 loosely coupled on-board 8-bit microprocessors. We describe how these behaviors cooperate to actually seek out and retrieve objects using local sensory data. We also discuss the methodology used to decompose this collection task and the types of spatial representation and reasoning used by the system.

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Tan, Shi-Hiang, and 陳世賢. "Development of a Robot Arm." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/05191119539534695715.

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碩士<br>雲林科技大學<br>電機工程系碩士班<br>98<br>This thesis developed a control system for robot arm using CAN bus communication network, and applied Maxon motor as joint and Maxon position controller as motor driver. This research developed a six axes robot arm which be controlled on stable, quiet, high speed, high precision. The degree of freedom, or DOF of robot arm is similar to human arm, can operated with some simple motion, such as point to point catch and put object, throw a small ball into a box within 50cm range. In addition, the motor position controller has overcurrent protection which can measu

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Huang, Ming-wei, and 黃銘偉. "Motion Planning of a Robot Arm." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/97892316927153757903.

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碩士<br>國立雲林科技大學<br>電機工程系碩士班<br>99<br>The thesis develops a six joints robot arm using NI motion controller card. The system architecture of the robot arm uses Maxon Motors and Maxon Motor drivers, and selects high precision ball screw and vision processing system to program multi-axis motion trajectories. The purpose of the thesis develops a robot arm with stability, high precision, multi-functional operation, and programs motion trajectories. Robot arm uses conversion baseline and encoder to calculate the movement displacement and uses proximity sensors to locate the limit position. Using the

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36

Wang, Tong-Shih, and 王同世. "A study on polishing using flexible arm." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/87499242118983843768.

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碩士<br>國立交通大學<br>機械工程學系碩士班<br>86<br>The main use of robot arm in industry is the carrier of machiningtool in machi ning process. In the realm of flexible arm study, therehave been a lot of stat ic force control method proposed. The main purpose of this paper is to study t he characteristics of flexible armapplied in polishing process, evalutes the c ontrol performance of thesystem, and make a discussion of flexible arm''s poten tial in industrial application.From theoretical and experimental results, it i

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Huang, Lun-Wei, and 黃倫維. "The Intelligent Control of a Robot Arm." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/07278531480695489462.

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碩士<br>國立宜蘭大學<br>電機工程學系碩士班<br>97<br>The object of this thesis is to design an LMI-based fuzzy controller for an MIMO two-link robot arm using hierarchical genetic algorithm. The Takagi-Sugeno (T-S) fuzzy model is utilized to represent the equation of motion of the two-link robot arm. After the design of a nonlinear function matrix R, the dynamic equation of the robot arm is built with only four fuzzy rules. The stability of the system is guaranteed by linear matrix inequalities (LMIs) from Lyapunov approach. Genetic algorithms (GAs) are applied to find the best parameter matrix of LMIs. Hierarc

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Chien-ChiLiu and 劉千綺. "A holistic strategic framework on ARM implementation." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/67165077905459164432.

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碩士<br>國立成功大學<br>工業與資訊管理學系碩博士班<br>98<br>State appropriations to higher education have declined relative to the rising costs of educating students and the ability of states to fund higher education. In this changing landscape of financing higher education, institutions of higher education are increasingly relying upon private support to keep their programs competitive. As charitable giving of alumni has always been the most significant source of revenue for higher education institutions, it becomes imperative for higher education institutions to cultivate a pool of loyal alumni donors. Existin

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Hsieh, Yi-Li, and 謝宜立. "A Visual and Mobile Pitch Robot Arm." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/07152915428938979450.

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碩士<br>國立臺灣海洋大學<br>電機工程學系<br>96<br>This thesis mainly investigates the construction and control of a robot arm, powered by several AI-1001 servomotors, in order to mimic a human arm's motion. The robot arm is controlled via Borland C++ Builder codes, which are transmitted by RS232 to each AI motor. In order for the robot arm to have the vision capability, like a human pitcher, a CCD webcam is added to capture target image. After image processing and analysis, controller can compute and then issue the motion commands to the robot arm. The vision system helps promote system's intelligence and imp

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Huang, Yi-Shun, and 黃義順. "Tracking Control of a Flexible Robot Arm." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/91762047956268507299.

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SU, Yi-Cheng, and 蘇奕誠. "Motion Control of a SCARA Robot Arm." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/56480090818823560270.

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碩士<br>國立雲林科技大學<br>電機工程系<br>103<br>The thesis mainly develops a SCARA robot arm. with four degrees of freedom(D,O,F) and program, the motion trajectory to finish the assigned task. The controller of the SCARA robot arm is DELTA programmable logic controller(PLC), The controller can drive four AC servo motors, and integrates driver system, to finish driver control and positioning. We program the control command to control the SCARA robot arm to catch the assigned object. The first and the second degree of the robot arm driven horizontal rotary using the shaft, ball screw spline by Delta servo mo

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Tamblingson, James Edward. "Development of a telerobotic arm control system." 1989. http://catalog.hathitrust.org/api/volumes/oclc/20137091.html.

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Thesis (M.S.)--University of Wisconsin--Madison, 1989.<br>Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 147-148).

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Eastwood-Sutherland, C. "Reproducing biological motion in a robotic arm." Thesis, 2012. https://eprints.utas.edu.au/14751/1/front-eastwoodsutherland-thesis-2012.pdf.

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Automatic capture of an amputee’s own natural biological arm motion for embedding into their motorised prosthetic arm is a goal that could potentially aid in the use of this type of therapeutic device. In 2007, of the approximately 301 million people in the USA, about 1.7 million were living with limb loss, many of which are upper limb amputees. Quality of life of many of these amputees may be improved through the use of a motorised prosthetic arm, but there are currently limitations of being able to embed into these arms the desired natural motion of the amputee. This research aims to invest

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RomainSylvestre and 羅永辰. "Design and Dynamic Modeling of a 5-Arm Parallel Robot with Flexible Arms." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/ykemzq.

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碩士<br>國立成功大學<br>航空太空工程學系<br>106<br>The 5R parallel manipulator is built of five bars and five revolute joints, where the two revolute joints that are attached to the base are actuated. Such a manipulator can be utilized in high-speed machine tools or as a drilling machine and laser drawing. Considering the promising characteristics of parallel manipulators, and lightweight manipulators, 5R parallel manipulators with four lightweight links are developed, to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators. Lightweight linkages may exhibi

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Gupta, Abhishek. "Design and control of a haptic arm exoskeleton." Thesis, 2004. http://hdl.handle.net/1911/17680.

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Robot-assisted physical therapy has been shown to aid in the rehabilitation process following neurological injuries. As a therapeutic or training tool, the robot provides a means to implement and evaluate assistance cues to the operator's arm in addition to displaying the forces arising from the dynamics of the virtual environment. Furthermore, training in virtual environments also provides increased repeatability, scalability, safety and a greater control on the experimental setup over training in natural environments. This thesis presents the analysis of various design constraints that apply

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Lin, Chin-Hua, and 林稚樺. "A Study on Intelligent Assembly by Robot Arm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/qzpg6u.

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碩士<br>國立中興大學<br>生物產業機電工程學系所<br>105<br>In the process of robots development, the robot could be imputed by specific path and followed the program to achieve a particular purpose; therefore, it was widely used to weld, spray, process, and transport object. With the great advancement of technology and the development of sensors, the working role of robot is gradually change from assistance into completely replacement of labor. Intelligent assembly is the indispensable part of this revolutionary change. When assembling, it takes precision very seriously. The old method of assembly, which used came

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Chang, Jeang-Lin, and 張浚林. "Force Control of A Single Link Flexible Arm." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/16894619702026856181.

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碩士<br>國立交通大學<br>控制工程系<br>82<br>In this paper, a scheme similiar to the finite element method is proposed to model a flexible arm which tip position is placed on a fixed plane. We first describe the reaction force at the tip position which is related to the motor angle and the beam deflection. That problem on this fact, the force control problem can be transformed into a position contro problem of the flexible arm. Further a force controller of the flexible arm is designed by the PID control

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Chen, Liang-Hung, and 陳亮宏. "A Single-arm Pulse-wave Velocity Measurement System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/30808603066154806654.

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碩士<br>國立中央大學<br>電機工程學系<br>104<br>Most of the current commercial electronic sphygmomanometers use the oscillometric method. The oscillometic method occludes blood flow by using the inflatable cuff, and using a piezoelectric pressure sensor to detected the pulsatility in arterial wall. To improve the user’s comfort and monitor the short term trend of blood pressure, in recent years, some researchers propose a novel cuffless blood pressure measurement system by using the pulse wave velocity (PWV) technique. These measurement system measure Lead I ECG from both hands and the fingertip PPG, and the

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Lam, RHY. "Hardware-software system design for a robot arm." Thesis, 1987. https://eprints.utas.edu.au/20267/7/whole_LamRaymondHangYick1988.pdf.

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This project is the design, implementation and evaluation of a control system for a robot manipulator. It is initiated as a foundation research in robotics in the Electrical Department, University of Tasmania. The TasrobotO is the first robot arm built in the Department. The design includes all the necessary electronic hardwares as well as softwares for the control of the manipulator. A complete robot system is a multi-variable, interacting and non-linear system with time-varying parameters. As Hewit has pointed out: "no applicable corpus of control theory exists to deal with systems

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Chun, Chen Ke, and 陳科鈞. "Research on Automatic Polishing Using a Robot Arm." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/70063100858088143872.

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碩士<br>長庚大學<br>機械工程研究所<br>95<br>The main purpose of this research is to propose a feasible automatic tool-path design strategy for polishing metal parts. The strategy combines a commercialized CAD/CAM tools (Pro-NC) with a coordinate transformation technique. The demonstrated tasks are divided into two styles: work-pieces held by the robot arm to be polished with a rotating machine, and tools held by the arm to polish static work-pieces. Experimental results show that the strategy could be used in practical industrial manufacturing processes if human-machine interface is improved.

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