Results 21 to 30 of about 1,440,437 (280)
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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Stiffness modeling of robotic manipulator with gravity compensator [PDF]
, 2013 The paper focuses on the stiffness modeling of robotic manipulators with gravity compensators. The main attention is paid to the development of the stiffness model of a spring-based compensator located between sequential links of a serial structure.
B-J Yi +6 more
core +4 more sources
Workspace and Singularity analysis of a Delta like family robot [PDF]
, 2015 Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to ...
A Pashkevich +15 more
core +4 more sources
A Novel Adaptive Controller for Robot Manipulators Based on Active Inference [PDF]
IEEE Robotics and Automation Letters, 2019 More adaptive controllers for robot manipulators are needed, which can deal with large model uncertainties. This letter presents a novel active inference controller (AIC) as an adaptive control scheme for industrial robots. This scheme is easily scalable
Corrado Pezzato +2 more
semanticscholar +1 more source
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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Miniaturized modular manipulator design for high precision assembly and manipulation tasks [PDF]
, 2012 In this paper, design and control issues for the development of miniaturized manipulators which are aimed to be used in high precision assembly and manipulation tasks are presented.
Kunt, Emrah Deniz +3 more
core +1 more source
A spatial impedance controller for robotic manipulation [PDF]
, 1997 Mechanical impedance is the dynamic generalization of stiffness, and determines interactive behavior by definition. Although the argument for explicitly controlling impedance is strong, impedance control has had only a modest impact on robotic ...
Broenink, Jan F., Fasse, Ernest D.
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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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Compliance error compensation technique for parallel robots composed of non-perfect serial chains [PDF]
, 2012 The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence
Chablat, Damien +3 more
core +4 more sources
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
doaj +1 more source