Compliance error compensation technique for parallel robots composed of non-perfect serial chains [PDF]
, 2012 The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence
Chablat, Damien +3 more
core +4 more sources
Model tracking controller design of robot manipulator system with disturbances
Advances in Mechanical Engineering, 2015 In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field.
Dazhong Wang +3 more
doaj +1 more source
A spatial impedance controller for robotic manipulation [PDF]
, 1997 Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic ...
Broenink, Jan F., Fasse, Ernest D.
core +2 more sources
Continuous Genetic Algorithms for Collision-Free Cartesian Path Planning of Robot Manipulators
International Journal of Advanced Robotic Systems, 2011 A novel continuous genetic algorithm (CGA) along with distance algorithm for solving collisions-free path planning problem for robot manipulators is presented in this paper.
Za'er S. Abo-Hammour +4 more
doaj +2 more sources
Manipulator dynamic modeling and motion planning for live working robot
工程科学学报, 2016 This article is focused on a double-arm and double-manipulator live working robot.The arm motion of the robot for insulator string replacement during the operation process was decomposed.The basic operation dynamic model was established by the Lagrange ...
JIANG Wei +3 more
doaj +1 more source
Simple rules to modify pre-planned paths and improve gross robot motions associated with pick & place assembly tasks [PDF]
, 2011 PurposeThis paper aims to describe real time improvements to the performance and trajectories of robots for which paths had already been planned by some means, automatic or otherwise.
Graham-Jones, J. +2 more
core +1 more source
An algebraic method to check the singularity-free paths for parallel robots [PDF]
, 2015 Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a ...
Chablat, Damien +3 more
core +4 more sources
Dynamic Manipulability of Robot Manipulators
Transactions of the Society of Instrument and Control Engineers, 1985 The concept of dynamic manipulability measure of robot arms is proposed as a quantitative measure of their manipulating ability in positioning and orienting the end-effectors, which takes the arm dynamics into consideration. This measure is defined on the basis of the relation between the joint driving force and the acceleration of the end-effector ...
openaire +3 more sources
Stiffness modeling of robotic manipulator with gravity compensator [PDF]
, 2013 The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial structure.
B-J Yi +6 more
core +4 more sources
Kinematics, dynamics, and control system of a new 5-degree-of-freedom hybrid robot manipulator
Advances in Mechanical Engineering, 2016 Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms.
Wanjin Guo +3 more
doaj +1 more source