Results 211 to 220 of about 6,600 (261)
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Multiple tasks manipulation for a robotic manipulator
Advanced Robotics, 2004Robotic manipulators can execute multiple tasks precisely at the same time and, thus, the task-priority scheme plays an important role in implementing multiple tasks. Until now, several algorithms for task-priority have been used in solving the inverse kinematics for redundant manipulators.
Youngjin Choi +4 more
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Stackable manipulator for mobile manipulation robot
2012 IEEE International Conference on Robotics and Automation, 2012This paper proposes a new manipulator concept applied to a mobile robot manipulation system for reducing robot size and weight or increasing its work capacities such as a payload, operating radius, and operating speed. In detail, we propose a new robotic manipulator that uses stackable 4-BAR mechanisms for mobile manipulation robot.
Hoyul Lee +3 more
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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
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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
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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.
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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.
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Compliance in robot manipulation
Artificial Intelligence, 1985Les robots de programmation pour manipuler les objets sont tres differents des ordinateurs de programmation pour manipuler des ...
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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
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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.
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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 ...
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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 ...
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