نتایج جستجو برای: robotic manipulator

تعداد نتایج: 47724  

2014
Yu GE Xinfeng GE

A free-floating space redundant robotic manipulator dynamics model is established and the dynamics equation is derived, the delayed feedback control time and the self-adaptive gain coefficient are obtained by substituting into delayed feedback control equations. Then simulated dynamics control chaotic motion of the space redundant robotic manipulator, the simulation results show that the chaoti...

2013
Jolly Shah

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...

Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...

Journal: :CoRR 2001
Donald Sofge Gerald Chiang

This paper describes the design, implementation, and machine learning issues associated with developing a control system for a serpentine robotic manipulator. The purpose of the control system is to provide autonomous/teleoperative control of the serpentine robotic manipulator, as well as full robotic control during operation of the manipulator within an enclosed environment such as an undergro...

ژورنال: کنترل 2019

In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in   comparing with the co...

2010
Filip Tóth Boris Rohaľ-Ilkiv Pavol Krasňanský

The goal of this project was to design and implement the electronics for a robotic device – namely a robotic manipulator. The manipulator has a total of six degrees of freedom, three of which are on the manipulator itself, and the rest are in the wrist. A gripper is used as the end stage of the device. It was necessary to design the electronics so that they could be interfaced with standard har...

2016
Toshio Tsuji Taro Shibanoki

This chapter describes a control method for a multi-joint robotic manipulator using Electromyogram (EMG) signals for operating a glovebox. The system uses a Probabilistic Neural Network (PNN) to estimate the user’s intended motion from EMG patterns, and generates a control command for the glovebox and robotic manipulator corresponding to the estimated motions. The user can therefore control the...

2018
Kun Wei Bingyin Ren

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...

2016
Gangqi Dong Zheng H. Zhu

This paper presents a real-time, vision-based algorithm for the pose and motion estimation of non-cooperative targets and its application in visual servo robotic manipulator to perform autonomous capture. A hybrid approach of adaptive extended Kalman filter and photogrammetry is developed for the real-time pose and motion estimation of noncooperative targets. Based on the pose and motion estima...

In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....

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