Results 261 to 270 of about 13,588 (308)
Some of the next articles are maybe not open access.
Damping Design for Robot Manipulators
2023This paper studies the tuning process of controllers for fully actuated manipulators. To this end, we propose a methodology to design the desired damping matrix—alternatively, the derivative gain of a PD controller—of the closed-loop system such that n second-order systems can approximate its behavior with a prescribed damping coefficient, where n ...
Tomás Coleman +2 more
openaire +2 more sources
SLIDING OBSERVERS FOR ROBOT MANIPULATORS
IFAC Proceedings Volumes, 1989Abstract High precision measurements of the joint displacements are available on robot manipulators. By contrast, the velocity measurements obtained through tachometers are in many cases contaminated of noise. Its is therefore economically and technically interesting to investigate the possibility of accurately estimating the speed from indirect ...
Carlos Canudas de Wit +1 more
openaire +1 more source
Annual Review of Control, Robotics, and Autonomous Systems, 2018
This article surveys manipulation, including both biological and robotic manipulation. Biology inspires robotics and demonstrates aspects of manipulation that are far in the future of robotics. Robotics develops concepts and principles that become evident only in the creative process. Robotics also provides a test of our understanding.
openaire +1 more source
This article surveys manipulation, including both biological and robotic manipulation. Biology inspires robotics and demonstrates aspects of manipulation that are far in the future of robotics. Robotics develops concepts and principles that become evident only in the creative process. Robotics also provides a test of our understanding.
openaire +1 more source
Compliance in robot manipulation
Artificial Intelligence, 1985Les robots de programmation pour manipuler les objets sont tres differents des ordinateurs de programmation pour manipuler des ...
openaire +1 more source
A study on the manipulability measures for robot manipulators
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 2002Regarding the dexterousness measure of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used techniques, it is shown that the manipulability ellipsoid does not transform the exact joint velocity
openaire +1 more source
Translational and rotational manipulability of robotic manipulators
Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation, 1990Several results offering insight into the properties of the manipulability measure are presented based on the idea of separating the total manipulability measure into translational and rotational manipulability measures. It is shown that if a manipulator consists of an arm portion with three joints and a spherical wrist portion with three or more ...
openaire +1 more source
A manipulation analysis for robot programming
Robotica, 1999In this paper a procedure is proposed for a rational and optimum use of robots. It is the result of the lessons learned by the author in the course of his consultancy and teaching activities on manipulative tasks and programming capabilities of robots.One of the chief aims of this paper is educational, and has been set on the basis of students ...
openaire +2 more sources
Mechanics of Robotic Manipulation
2001The science and engineering of robotic manipulation. "Manipulation" refers to a variety of physical changes made to the world around us. Mechanics of Robotic Manipulation addresses one form of robotic manipulation, moving objects, and the various processes involved—grasping, carrying, pushing, dropping, throwing, and so on.
openaire +1 more source
Manipulability and stability of a tentacle based robot manipulator
Proceedings, 1989 International Conference on Robotics and Automation, 2003A massively redundant, tentacle-based robot manipulator is proposed as an alternative to dextrous manipulation by an arm/hand combination. The tentacle is advantageous because it is an all-in-one arm and gripping device capable of a wide variety of configurations and grasps, while maintaining the mechanics of serial manipulators.
Jeffrey S. Pettinato, Harry E. Stephanou
openaire +1 more source
Manipulability and force ellipsoids for continuum robot manipulators
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002Manipulability and force ellipsoids have long been a useful tool for analyzing the relative capabilities of robotic, manipulators to move in, or to exert forces in, certain directions. The purpose of this paper is to first formulate, and then to examine, the manipulability and force ellipsoids for continuum robots.
Ian A. Gravagne, Ian D. Walker
openaire +1 more source