This thesis deals with design of control unit for pneumatic manipulator. The control unit is connect to PC, where the special designed software is running. This system allows you to easily control the manipulator. Controlling process can be realize directly by user or automatically by program.

The object of this diploma work is to project a manipulator for the chaffs of glass, which will be mounted to the cutting machine RKP 01. The function of this manipulator will be a transposition of the chaffs of glass from the supply table to the haul. This manipulator check by calculations. RPK is the cutting machine for the circular-shaped cutouts, from which the saucers are made. Everything will be operated automatically, position of a handling moulding will be located by the sense organs and everything will be controlled by the automat, which was already designed by the firma FESTO FEC 30.

Continuum manipulators which are robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consists of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are weak in the torsional direction, limiting their performance under external load. This work presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, light-weight, and is inherently safe for human-robot interaction. This dissertation includes contributions in the design of the modular and torsionally strong continuum robot, the motion planning and control of the system, and finally the embedded sensing to close the loop providing robust feedback.

The main objective of my research is to improve the control structure for the new Wheelchair Mounted Robotic Arm (WMRA) to include new algorithms for optimized task execution; that is, making the WMRA a modular task oriented mobile manipulator. The main criterion to be optimized is the fashion in which the wheelchair approaches a final target as well as the starting and final orientation of the wheelchair. This is a novel approach in non-holonomic wheeled manipulators that will help in autonomously executing complex activities of daily living (ADL) tasks. The WMRA is a 9 degree of freedom system, which provides 3 degrees of kinematic redundancy. A single control structure is used to control the WMRA system, which gives much more flexibility to the system. The combination of mobility and manipulation expands the workspace that a mobile base attains to a manipulator. This approach opens a broad field of applications: from maintenance and storage to rehabilitation robotics. This structure is based on optimization algorithms that can resolve redundancy based on several subtasks: maximizing the manipulability measure, minimizing the joint velocities (hence minimizing the energy), and avoiding joint limits. This work utilizes redundancy to control 2 separate trajectories, a primary trajectory for the end-effector and an optimized secondary trajectory for the wheelchair. Even though this work presents results and implementation in the WMRA system, this approach offers expandability to many wheeled base mobile manipulators in different types of applications. The WMRA usage was simulated in a virtual environment, by developing a test setting for sensors and task performance. The different trajectories and tasks can be shown in a virtual world created not only for illustration purposes, but to provide training to the users once the system is ready for use.

The topic of this master`s thesis is the strain - stress analysis of the manipulator construction. This manipulator is used in the company Legios for positioning steel weldments at hand welding. A separate chapter is devoted to check calculations of main joints using the analytic method.

This master's thesis deals with control robotic manipulator ROB 1-3 using common joystick and microcontroller HC08 NITRON or HC08 LJ12. The goal of this work was creation of module for controlling axes position of servos included in robot by analog signal coming from connected joystick. There are formed possible suggestions about connecting individual parts together for both autonomous and version using development kit. Programming code suggestion is based on these connections during further development. The limitations of using it are described in analysis and final results are shown in statistics results.

京都大学 / 新制・課程博士 / 博士(工学) / 甲第24609号 / 工博第5115号 / 新制||工||1978(附属図書館) / 京都大学大学院工学研究科機械理工学専攻 / (主査)教授 小森 雅晴, 教授 松野 文俊, 教授 松原 厚 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

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