نتایج جستجو برای: rigid robot manipulators

تعداد نتایج: 148854  

2002
Ian A. Gravagne Ian D. Walker

Continuum manipulators are robotic manipulators built using one continuous, elastic, and highly deformable “backbone” instead of multiple rigid links and joints. I n previous work, we illuminated various kinematic and dynamic properties of continuum robots, but the question of controller design remained open. This paper presents a basic result for continuum robots that has long been knoum for r...

2018

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility and variable stiffness in robotics have been recognised as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (suc...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

2015
Zhen YANG Hua SUN Shumin FEI Fang WANG

For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera’s intrinsic ...

2007
E. Muñoz C. Gaviria A. Vivas

This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...

Journal: :Journal of Mechanical Design 2006

2014
Jelena Vidakovic Jelena Z. Vidakovic Mihailo P. Lazarevic Vladimir M. Kvrgic Zorana Z. Dancuo Goran Z. Ferenc

Formulation of proper and efficient algorithms for robot kinematics is essential for the analysis and design of serial manipulators. Kinematic modeling of manipulators is most often performed in Cartesian space. However, due to disadvantages of most widely used mathematical constructs for description of orientation such as Euler angles and rotational matrices, a need for unambiguous, compact, s...

2008
TAE-JUN HA JE SUNG YEON JONG HYEON PARK SANGHOON LEE

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

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