Spelling suggestions: "subject:"manipulators (bechanism)"" "subject:"manipulators (amechanism)""
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Active damping control of a compliant base manipulatorMoon, Suk-Min. January 1999 (has links)
Thesis (M.S.)--Ohio University, March, 1999. / Title from PDF t.p.
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Spherically-actuated platform manipulator with passive prismatic jointsNyzen, Ronald A. January 2002 (has links)
Thesis (M.S.)--Ohio University, November, 2002. / Title from PDF t.p. Includes bibliographical references (leaves 77-79).
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Kinematics, statics, and dexterity of planar active scaffolding structuresKuriger, Rex J. January 1997 (has links)
Thesis (M.S.)--Ohio University, June, 1997. / Title from PDF t.p.
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Towards better grasping and manipulation by multifingered robotic hand /Xu, Jijie. January 2007 (has links)
Thesis (Ph.D.)--Hong Kong University of Science and Technology, 2007. / Includes bibliographical references (leaves 112-121). Also available in electronic version.
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Motion planning for flexible manipulatorsPond, Christopher Burke 10 November 2017 (has links)
As robotic manipulators become more prevalent, particularly in hazardous environments
or for repetitive tasks, demand continues for increased performance and
decreased cost. In some applications, both can be achieved by reducing the weight
of the manipulator. However, reduced weight often leads to significant structural
flexibility and vibration which, for most tasks, is generally regarded as detrimental
to performance.
Although there has been a great deal of research in the area of controlling flexible
manipulators to follow a desired trajectory, much less work has been directed towards
choosing the trajectory itself. The objective of this work is to optimize point-to-point
motions in joint space to reduce vibration. This problem is formulated as one
of functional optimization and the applicable methods of solution are reviewed. An
indirect method is chosen that allows modular software development by preserving the
integrity of existing nonlinear dynamics models. Numerical results are compared with
trajectories generated by other means and show a significant reduction in vibration
possible by optimization, particularly for varying joint paths.
Finally, the effectiveness of the trajectory optimization scheme is further evaluated
for high-speed, large-angle motions of an experimental nonplanar two-link flexible
manipulator. Such results are lacking in the literature, but are very important
for assessing the utility of trajectory optimization in the presence of modelling and
tracking errors. Again, significant reductions in vibration are demonstrated by using
the global optimization approach for trajectory generation. / Graduate
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Die ontwikkeling en beheer van 'n drie-dimensionele manipuleerder met terugvoerbeheerde pneumatiese silindersSteenekamp, Andries Petrus 24 April 2014 (has links)
M.Ing. (Mechanical Engineering) / In this study a manipulator was developed by using system design methods. The main aim was to develop a robot which could be used as a packer in an industrial environment. Pneumatic silinders have been used with great success but up to now seldom in areas where positional accuracy is required. To design a manipulator which is able to operate in a varying work space it must be supplied with specialized sensors. For this reason research was done into image processing. Most of the relevant techniques of image processing arc discussed shortly with particular emphasis on the method of moment invariants for object recognition. Another important aspect covered in the project is the way by which articulated mechanical systems can be modelled kinematically and dynamically. The kinematical description was especially studied and in particular the method introduced by Denavit and Hartenberg and the method of general matrix transformations.
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Closed loop end piece control of a servo controlled manipulatorBoucher, Daniel Charles January 1985 (has links)
This thesis discusses the possibility of attaining closed loop end piece control of a servo controlled manipulator by externally modifying the independent control loop set point of each robot link.
This procedure leaves the existing servo control loops intact and thus has the benefit of acquiring the advantages of an advanced control strategy while retaining the inherent reliability and stability of the existing control loops.
Algorithms are proposed for compensating for known disturbance torques, eliminating end piece position errors, and applying specified forces to the surroundings with the end piece. These algorithms are demonstrated
for the three degree of freedom case using a simulation package ROBSIM.FOR which simulates the response of a servo controlled manipulator to set point inputs.
To compensate for known disturbance torques the torques generated by the robot control system are assumed to be directly proportional to the changes in set points. These approximate relations are used to estimate the adjustment in set points necessary to generate the required additional joint torques. Simulation results show that this method is effective in compensating for gravity disturbance torques.
The Jacobian relates changes in position of the end piece to changes in joint angles. Using the Jacobian combined with a weighting factor to prevent overshoot an algorithm is developed which drives end piece position errors to zero. The transpose of the Jacobian is used to relate forces exerted on the surroundings by the end piece to generated joint torques. The required torques are created by adjusting the set points. Simulation results indicate that this method can be used to exert specified forces. Force control is more difficult to achieve than position control because the robot interacts physically with its surroundings. The ability of the robot to exert forces depends strongly on the robot's configuration.
All work in this thesis can be generated using the single program ROBSIM.FOR. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate
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Motor control and learning by the state space modelRaibert, Marc Harold January 1977 (has links)
Thesis. 1977. Ph.D.--Massachusetts Institute of Technology. Dept. of Psychology. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND HUMANITIES. / Vita. / Includes bibliographies. / by Marc H. Raibert. / Ph.D.
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Control of robotic manipulators using acceleration feedbackStudenny, John. January 1987 (has links)
No description available.
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Kinematics, dynamics and control of high precision parallel manipulatorsCheung, Wing-fung, Jacob., 張穎鋒. January 2007 (has links)
published_or_final_version / abstract / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy
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