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Biomechanical design principles underpinning anthropomorphic manipulators
, 2022 The biomechanical design of an artificial anthropomorphic manipulator is the focus of many researchers in diverse fields. Current electromechanical artificial hands are either in the research stage, expensive, have patents, lack severely in function, and/
Owen, Mahonri William +3 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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Nonlinear pd controllers with gravity compensation for robot manipulators
Cybernetics and Information Technologies, 2014 A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller.
Huang Jianfeng, Yang Chengying, Ye Jun
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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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Research of relationships between the technical parameters of industrial manipulators
Гірничі, будівельні, дорожні та меліоративні машини, 2023 Industrial manipulators have to become an integral part of modern construction production, playing a key role in the automation and optimization of production processes.
Yaroslav Korobenko +2 more
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Precision contouring control of five degree of freedom robot manipulators with uncertainty
International Journal of Advanced Robotic Systems, 2016 In this article, we apply a result in equivalent errors to a contouring control problem of five degree of freedom robot manipulators. The proposed technique, fuzzy Proportional Integral Derivative (PID) with the robust extended Kalman filter, is employed
Thanana Nuchkrua, Shyh-Leh Chen
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Improved neural network-based adaptive tracking control for manipulators with uncertain dynamics
International Journal of Advanced Robotic Systems, 2020 In this article, a robust adaptive tracking controller is developed for robot manipulators with uncertain dynamics using radial basis function neural network.
Dong-hui Wang, Shi-jie Zhang
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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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Introduction of b-splines to trajectory planning for robot manipulators [PDF]
Modeling, Identification and Control, 1988 This paper describes how B-splines can be used to construct joint trajectories for robot manipulators. The motion is specified by a sequence of Cartesian knots, i.e., positions and orientations of the end effector of a robot manipulator.
Per E. Koch, Kesheng Wang
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Kinematic Workspace Modelling of Two Links Robotic Manipulator
Anbar Journal of Engineering Sciences, 2020 The purpose of this paper is to present a new method to establish a kinematic model for different manipulators, whose can be simulate the move in a two-dimensional workspace.The model is applied and implemented to four robot arm manipulators witha ...
Dler Salih Hasanc +2 more
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