Reactionless Control for Two Manipulators Mounted on a Cable-Suspended Platform [PDF]
, 2006 The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfil a user defined task. The second arm is then controlled to compensate for the disturbances on
Ralf Koeppe +7 more
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IMPULSE CONTROL OF THE MANIPULATION ROBOT [PDF]
Ural Mathematical Journal, 2019 A nonlinear control problem for a manipulation robot is considered. The solvability conditions for the problem are obtained in the class of special impulse controls. To achieve the control goal, the kinetic energy of the manipulation robot is used. When finding analytical formulas for controls, the classical first integrals of Lagrangian mechanics were
Dolgii, Y. F. +2 more
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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
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
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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
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A nonlinear disturbance observer for robotic manipulators [PDF]
, 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 ...
Chen, W.H. +2 more
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Optimal Design of Planar Paraller Manipulators 3 RRR Through Lower Energy Consumption
, 2009 Organised by: Cranfield UniversityIn most existing studies, the solutions of planar parallel manipulators are restricted to a feasible region of solution. This research provides an optimal solution in link dimension of planar parallel manipulators to a
Ledezma-Rubio, Y. A. +1 more
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Collision-free inverse kinematics of the redundant seven-link manipulator used in a cucumber picking robot [PDF]
, 2010 The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator.
Willigenburg, L.G., van +8 more
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A Cartesian Compliance Controller for a Manipulator Mounted on a Flexible Structure [PDF]
, 2006 In this paper the Cartesian compliance control of a manipulator mounted on a flexible base is considered. The proposed control law aims at achieving a desired stiffness and damping in Cartesian coordinates while taking account of the base flexibility.
Albu-Schäffer, Alin Olimpiu +5 more
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Multiobjective control of a four-link flexible manipulator: A robust H∞ approach [PDF]
, 2002 Copyright [2002] IEEE. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Brunel University's products or services.
Wang, Z, Ho, DWC, Unbehauen, H, Zeng, H
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