Results 11 to 20 of about 13,588 (308)
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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Advances in Mechanical Engineering, 2021 Robot kinematic calibration used to be carried out with the partial pose measurements (position only) of dimension 3 in industry, while full pose measurements (orientation and position) of dimension 6 sometimes could be considered to improve the ...
Hoai-Nhan Nguyen +2 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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Robotic Manipulation of a Rotating Chain [PDF]
IEEE Transactions on Robotics, 2018 12 pages, 9 ...
Hung Pham, Quang-Cuong Pham
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A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators [PDF]
, 2011 This paper presents a general and systematic approach to formulate the dimensionally homogeneous Jacobian, which is an important issue for the dexterity evaluation and dimensional synthesis of f-degrees-of-freedom (DOF) (f ≤ 6) parallel manipulators ...
Huang, Tian +5 more
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Generic singularities of robot manipulators [PDF]
Proceedings, 1989 International Conference on Robotics and Automation, 1988 The singularities of the differential kinematic map, i.e. of the manipulator Jacobian, are considered. The authors first examine the notion of a generic kinematic map, whose singularities form smooth manifolds of prescribed dimension in the joint space of the manipulator. For three-joint robots, an equivalent condition for genericity using determinants
Pai, Dinesh K., Leu, M. C.
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Generalized Jacobian analysis of lower mobility manipulators [PDF]
, 2011 Mainly drawing on screw theory and linear algebra, this paper presents a general approach for Jacobian analysis of lower mobility manipulators. Given the definitions of twist/wrench spaces and their subspaces of the end-effector, the underlying ...
Huang, Tian +5 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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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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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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