Results 11 to 20 of about 471,464 (281)
Variable structure control of robot manipulators (the example of the SPRINTA) [PDF]
, 2000 This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University, 12/01/2000.The subject of this thesis is the design and practical application of a model-based controller with variable structure control (VSC).
Nigrowsky, Pierre
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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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A survey of robot manipulation in contact
Robotics and Autonomous Systems, 2022 In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task.
Karayiannidis, Yiannis +3 more
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IEEE Access, 2020 The motion control of robot manipulators is a crucial problem concerning automatically controlled robots. In this work, the model predictive control method with an integral compensation (MPC-I), which compensates for the matched uncertainties due to ...
Yuhan Chen +4 more
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Structural Synthesis of Lower-Class Robot Manipulators with General Constraint One
Robotics, 2021 In this research, the structural synthesis of lower-class robot manipulators with general constraint one is investigated. The number of constraints d = 1 and the mobility number λ = 5 for sphere–sphere and sphere–plane combinations of higher kinematic ...
Rasim Alizade +2 more
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Robotic Manipulation of a Rotating Chain [PDF]
IEEE Transactions on Robotics, 2018 12 pages, 9 ...
Hung Pham, Quang-Cuong Pham
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International Journal of Advanced Robotic Systems, 2011 A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an ...
Maolin Jin +3 more
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Frontiers in Neurorobotics, 2017 A dual-robot system is a robotic device composed of two robot arms. To eliminate the joint-angle drift and prevent the occurrence of high joint velocity, a velocity-level bi-criteria optimization scheme, which includes two criteria (i.e., the minimum ...
Lin Xiao +5 more
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A Novel Kinematic Directional Index for Industrial Serial Manipulators
Applied Sciences, 2020 In the last forty years, performance evaluations have been conducted to evaluate the behavior of industrial manipulators throughout the workspace. The information gathered from these evaluations describes the performances of robots from different points ...
Giovanni Boschetti
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