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A Nonlinear Disturbance Observer for Robotic Manipulators [PDF]
IEEE Transactions on Industrial Electronics, 2000 A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity ...
Wen-Hua Chen, J O'Reilly, P J Gawthrop
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Manipulability of manipulators
Mechanism and Machine Theory, 1990Abstract Manipulability provides a quantitative measure of the closeness of a manipulator to singularity. Arrangement of joint parameters to minimize the incidence of singularities is presented. However, restricting the joint limits will reduce the workspace and create operating barriers within the workspace for the rate control algorithm.
Ming J Tsai, Yee H Chiou
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Manipulability analysis for mobile manipulators
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), 2002We extend the standard definition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The effects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined.
Bernard Bayle +2 more
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Proceedings of the 2019 ACM Conference on Economics and Computation, 2018
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Peter Troyan, Thayer Morrill
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zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Peter Troyan, Thayer Morrill
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Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), 2003
This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk.
Matthew T. Mason +4 more
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This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk.
Matthew T. Mason +4 more
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Manipulability Analysis of Redundant Robotic Manipulator
Proceedings of the 21st International Conference on Computer Systems and Technologies, 2020The increased number of applications of the robotic systems in the human life leads to the need of assigning more complex tasks to such systems. The redundancy of the robotic configuration increases performance and precision of the execution of the assigned tasks.
Lyubomira Miteva +3 more
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British Journal of Political Science, 1982
In a recent article, Alan Ware argues the following:(1) Manipulation is important to liberals because governments and law courts are justified in overriding some person's wants, when determining his interests, only when his wants have been manipulated (pp. 175, 177). (I shall call this person ‘B’.)(2) Manipulation only occurs when some specified person
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In a recent article, Alan Ware argues the following:(1) Manipulation is important to liberals because governments and law courts are justified in overriding some person's wants, when determining his interests, only when his wants have been manipulated (pp. 175, 177). (I shall call this person ‘B’.)(2) Manipulation only occurs when some specified person
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The dynamic manipulability ellipsoid for redundant manipulators
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 2002Manipulability ellipsoids are effective tools to perform task space analysis of robotic manipulators in terms of velocities, accelerations and forces at the end effector. A new definition of dynamic manipulability ellipsoid for redundant manipulators is proposed which leads to more correct results in evaluating manipulator capabilities in terms of task-
Pasquale Chiacchio, Mariano Concilio
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Manipulabilities Of Serial-parallel Manipulator Systems
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005This paper presents two different ap- proaches of deflning the manipulabilities and resistivi- ties of serial-parallel manipulator systems. In the flrst approach, the manipulability (resistivity) of the serial- parallel structure is dehed by imposing the kinematic constraint on the local manipulabilities (local resistiv- ities), each of which is ...
Sukhan Lee 0001, Sungbok Kim
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Manipulability constraint locus for a redundant manipulator
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space.
Byoung Wook Choi +2 more
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