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On, Calvin. "ANA : a method for ARM-on-ARM execution." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/45973.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2007.Includes bibliographical references (p. 61-62).
This thesis proposes and implements ANA, a new method for the simulation of ARM programs on the ARM platform. ANA is a lightweight ARM instruction interpreter that uses the hardware to do a lot of the work for the read-decode-execute piece of simulation. We compare this method to the two existing methods of full simulation and direct execution that have been traditionally used to achieve this. We demonstrate that despite some setbacks caused by the prefetching and caching behaviors of the ARM, ANA continues to be a very useful tool for prototyping and for increasing simulator performance. Finally, we identify the important role that ANA can play in our current efforts to virtualize the ARM.
by Calvin On.
M.Eng.
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BATOR, CHRISTOFFER, and RICKARD SVENSSON. "Exoskeleton arm : How to construct a smart support structure for an arm." Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190843.
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The purpose of this thesis was to find an optimal way to construct and control a product that could help those who suffer from muscle weakness or a muscle sickness. The device was made out of two major parts (upper arm and lower arm) which were connected through a motorized joint. The focus was on finding a satisfying construction that could handle the forces and with the help of sensors measure movement of the users arm relative to the construction and then control it using that information. The device needed to be fast and reliable and react to small movements to be as comfortable for the user as possible. The result was a construction controlled by measuring the forces from the user’s movement with the use of force sensors placed at the wrist. The construction managed to follow the users’ arm, fast and in a satisfactory way.Tanken med detta arbete var att hitta ett optimalt sätt att konstruera en produkt som skulle hjälpa de som lider av muskel -svaghet och -sjukdom. Produkten skulle bestå av två större delar (överarmen och underarmen) som var sammanlänkade med en motoriserad led. Fokusen låg på att hitta en tillfredställande konstruktion som kunde hantera krafterna och med hjälp av sensorer kunna mäta avståndet och rörelsen på användarens arm och förflytta konstruktionen utifrån det. Produkten behövde vara snabb, pålitlig och reagera på små rörelser för att vara så bekväm för användaren som möjligt. Resultatet blev en konstruktion som styrs genom att mäta tryckkraften, när användaren flyttar armen, med hjälp av trycksensorer som placeras vid handleden. Konstruktionen lyckades följa användarens arm, snabbt och på ett tillfredställande sätt.
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Hägg, Magnus. "Controlling a robotic arm using linux." Thesis, Mälardalen University, School of Innovation, Design and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7546.
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EDSTRÖM, JACOB, and JONATHAN GUNNARSSON. "Balancing arm for a Robotic Waiter." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191211.
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This project focuses on balancing a drinking glass, to be able to transport it without the contents being spilled. It is designed with the aim of replacing a waiter in a restaurant or bar environment, but the technology itself could well be applied on mobile cup holders in cars or boats for instance. The core of the project is to study how and if it is possible to create a platform capable of balancing a drinking glass when exposed to different acceleration forces. This report describes one way of constructing this cup holder, with explanations of how the hardware has been designed and put together as well as how the software was written to make the components work together. The objective was to tilt the platform so that the acceleration resultant always was aligned with the z-axis of the sensor. The balancing part was divided in two separate systems, each controlling one rotation around two perpendicular axes. The rotation was controlled by two DCmotors, which counter forces that occur when the prototype is tilted and accelerated in different directions. To measure these movements, an IMU sensor containing both an accelerometer and a gyroscope was used. This sensor was placed in the center of rotation to increase sensor accuracy. To relate the input signal from the sensor to the output signal to the motors, a PIDcontroller was used. It was studied whether mathematical modelling or experimental testing provided the best method to determine the parameter values for this PID-controller. To test the performance, data about acceleration and relative angle to the acceleration resultant was gathered. This showed how high accelerations the system could handle, to evaluate if the system could be used in a restaurant or a bar environment. It also showed how much the platform was tilting in relation to the acceleration resultant, which determines if the liquid would stay in the glass. Additionally, a survey was created to gather opinions regarding robots in a restaurant or bar environment. The implementation is deemed possible and the survey showed that there is a great interest for this product. A clear majority answered that they would be attracted to a restaurant or a bar with robotic waiters. The study of three different ways to apply the derivative part of the PIDcontroller concludes that the use of the gyroscope was the best for this application, despite its inability to react on acceleration from linear motion. Experimental testing proved most time efficient to determine the parameter values for the PID-controller, but the non-linearized mathematical model of the system that is presented could well serve as a foundation to further improve this controller.Detta projekt fokuserar på balanseringen av ett dryckesglas, för att kunna transportera detta utan att innehållet spills ut. Designen är främst tänkt för att ersätta en servitör i restaurangverksamhet, men teknologin kan väl appliceras till mobila dryckeshållare i exempelvis bilar och båtar. Kärnan i projektet är att studera hur och om det är möjligt att skapa en plattform som klarar av att balansera ett dryckesglas när den utsätts för olika accelerationskrafter. Denna rapport beskriver ett sätt att gå tillväga för att konstruera denna dryckeshållare, med förklaringar om hur hårdvaran har designats och satts ihop samt hur mjukvaran fått komponenterna att fungera tillsammans. Målet var att vrida plattformen så att accelerationsresultanten alltid var riktad längs sensorns z-axel. Balanseringen delades upp i två separata system som reglerar varsin rotation kring två vinkelräta axlar. Rotationen drivs av två DC-motorer, som motverkar de krafter som uppstår när testplattformen vinklas och accelererar i olika riktningar. För att mäta dessa röresler användes en IMU-sensor som innehöll både accelerometer och gyroskop. Sensorn var placerad i rotationscentrum för att öka precisionen i mätningarna. För att relatera insignalen från sensorn till utsignalen till motorerna användes en PID-kontroller. Det undersöktes om matematisk modellering eller experimentell testning gav den bästa metoden att bestämma parametrarvärdena till denna PID-kontroller. För att testa prestationsförmågan samlades accelerationsdata samt data om den relativa vinkeln till accelerationsresultanten. Detta visade hur höga accelerationer som systemet klarade att hantera, för att utvärdera om systemet kunde användas i en restaruang- eller barmiljö. Det visade även hur mycket plattformen lutade relativt accelerationsresultanten, vilket avgör om vätskan stannar i glaset. Till detta gjordes också en undersökning för att samla in åsikter om robotar i restaurang- eller barmiljö. Implementationen av denna robot bedöms möjlig och det finns ett intresse för en sådan produkt. En klar majoritet av de tillfrågade svarade att de skulle vara lockade till en restaurang eller bar med robotservitörer. Vid undersökningen av tre olika sätt att applicera den deriverande delen i PID-kontrollern drogs slutsatsen att användadet av gyroskopet var det som fungerade bäst i tillämpningen, trots att den inte kan ta hänsyn till acceleration från rätlinjig rörelse. Experimentell testning visade sig vara mest tidseffektivt för ta fram parametervärdena till PID-kontrollern, men den presenterade icke-lineariserade matematiska modellen av systemet kan väl utgöra en grund för att förbättra denna kontroller.
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Issa, Alan, and Christos Andreanidis. "Wireless Control of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295847.
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This paper looks at all aspects of developing a robotic arm and hand that consists of five fingers which is able to imitate human movements. The imitation ability, accuracy and factors affecting both points are studied. A project like this requires the interplay of various electrical components to achieve the desired results.The prototype constructed measured the controller’s movements of the fingers with the help of flex sensors. The movements in the elbow and wrist however were measured with the help of potentiometers. The flex sensors and potentiometers were connected to an Arduino Mega which then sent the values with the help of a transmitter. The robotic arm consists of an Arduino Uno, seven servomotors and a receiver that reads the messages sent from the transmitter. All values were converted into degrees that rotated the motor axles accordingly. The prototype produced positive results, showing that it was able to copy all movements done by the controller. Tests were conducted to study the accuracy and imitationability. The conclusion was that the factors affecting imitation and accuracy were mostly connected to the weight of the robot and the design of the hand.Denna uppsats behandlar olika aspekter i utvecklingen av en robotarm vars gripdon är en hand med fem fingrar, med syfte att kunna imitera mänskliga rörelser. Imitationsförmågan, noggrannheten samt vilka faktorer som påverkar dessa studeras. För att uppnå ett önskvärt resultat har det krävts styrning och samverkan mellan olika elektroniska komponenter. I prototypen som presenteras mättes fingrarnas rörelsemed hjälp av flexsensorer samt rörelsen i armbåge och handleden med hjälp av vridpotentiometrar. Flexsensorerna och potentiometrarna var anslutna till en Arduino Mega vars värden skickades med hjälp av en sändare. Elektronikkomponenterna som användes i robotarmen var en ArduinoUno, sju servomotorer och en mottagare, vars funktion var att läsa av meddelanden som skickades från sändaren. Alla värden omvandlades till grader och motoraxlarna roterade i enlighet med dessa. Prototypen uppnådde ett önskvärt betteende då roboten hade förmågan att imitera alla rörelser som utfördes av styrenheten. Noggrannheten och imitationsförmågan undersöktes med olika tester. De mest betydelsefulla faktorer som påverkade imitationen och noggrannheten av prototypen var kopplade till vikten av roboten och designen av handen, enligt slutsatserna som har dragits.
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Leeb, Adam Paul. "Anthro Arm : the design of a seven degree of freedom arm with human attributes." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40458.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (leaf 24).
Studying biological systems has given robotics researchers valuable insight into designing complex systems. This thesis explores one such application of a biomimetic robotic system designed around a human arm. The design of an anthropomorphic arm, an arm that is similar to that of a human's, requires deep insight into the kinematics and physiology of the biological system. Investigated here is the design and completion of an arm with 7 degrees of freedom and human-like range of motion in each joint. The comparison of actuation schemes and the determination of proper kinematics enable the arm to be built at a low cost while maintaining high performance and similarity to the biological analog. Complex parts are built by dividing structures into interlocking 2d shapes that can easily be cut out using a waterjet and then welded together with high reliability. The resulting arm will become part of a bionic system when combined with an existing bionic hand platform that is being developed in the Intelligent Machines Laboratory at MIT. With a well thought out modular design, the system will be used as a test bed for future research involving data simplification and neurological control. The completion of the anthropomorphic arm reveals that is indeed feasible to use simple DC motors and quick fabrication techniques. The final result is a reliable, modularized, and anthropomorphic arm.
by Adam Paul Leeb.
S.B.
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Bersvendsen, Jørn. "Control of a multifunction Arm Prosthesis Model." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-14176.
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In this thesis a working control system for a 7 degrees of freedom hand prosthesis model controlled by electromyographic and accelerometer signals has been developed.The complete system consists of a wireless EMG and accelerometer measurement system, two National Instruments data acquisition modules, a desktop computer, a Lego Mindstorms NXT brick and a hand model with 7 motorized degrees of freedom.The controller is based on pattern recognition and signal classification.Several different EMG features for this purpose are presented and implemented.Two different linear classifiers were used and their performance studied.The LabVIEW software platform was used for both the computer and the NXT.The developed software has a modular design, facilitating future development and extension.Its design and implementation are presented and discussed.
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Jassemi-Zargani, Rahim. "Impedance control of a dual-arm robot." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq28348.pdf.
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Shiek, David. "From coast guards to a strategic arm." Thesis, King's College London (University of London), 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.416120.
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Anders, Ariel (Ariel Sharone). "Learning a strategy for whole-arm grasping." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/91034.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
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Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 69-71).
Traditionally, robot grasping has been approached in two separate phases: first, finding contact positions that yield optimal grasps and, then, moving the robot hand to these positions. This approach works well when the object's location is known exactly and the robot's control is perfect. However, in the presence of uncertainty, this approach often leads to failure, usually because the robot's gripper contacts the object and causes the object to move away from the grasp. To obtain reliable grasping in the presence of uncertainty, the robot needs to anticipate the possible motions of the object during grasping. Our approach is to compute a policy that specifies the robot's motions over a range of joint states of the object and gripper, taking into account the expected motion of the object when pushed by the gripper. We use methods from continuous-state reinforcement-learning to solve for these policies. We test our approach on the problem of whole-arm grasping for a PR2, where one or both arms, as well as the torso can all serve to create contacts.
by Ariel Anders.
S.M.
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Lidholm, Carl-Victor, and Victor Runnquist. "Accuracy and Repeatability of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296167.
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The purpose of this project was to create a model of a robotic arm with 4-DOF equipped with a gripper that is able to move an object to a predetermined area. This thesis investigated the robotic arm’s accuracy by repeating the same predetermined movement and measure the error. The error was measured based on the objects displacement from the target area after a series of repeated movements by the arm. After constructing the robotic arm, an experiment was set up to measure the accuracy and repeatability of the arm. The robot achieved 2.506 mm to 0.922 mm for accuracy and 5.995 mm to 4.059 mm for repeatability depending on speed.Syftet med detta projekt var att skapa en modell av en robotarm med 4 frihetsgrader och en klo för att kunna flytta ett objekt till ett förbestämt område. Denna avhandling har undersökt robotens noggrannhet genom att upprepa enförbestämd rörelse och mäta felet. Felet bestämdes genomatt flytta ett objekt till en förbestämd plats och mäta objektets position i förhållande till målet. Den färdigkonstruerade roboten har en noggrannhet på 2.506 mm till 0.922 mm och en repeterbarhet på 5.995 mmtill 4.059 mm beroende på hur fort roboten rör sig.
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Laghi, Marco. "Passive based control on a kuka arm." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/8435/.
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L'interazione in maniera sicura e compliante è una caratteristica sempre più richiesta per i sistemi robotici. La modellazione di sistemi eseguita tramite l'uso di sistemi port-Hamiltoninani permette di comprendere cosa avviene a livello energetico durante l'interazione e aiuta nella progettazinoe di un controllore tale che il comportamento del sistema controllato sia passivo e sicuro durante essa. Ciò sfocia nel cosiddetto Controllore Intrinsicamente Passivo (IPC). Dal momento che questo un controllo impone la rigidezza desiderata al sistema controllato, è possibile, tra le altre cose, replicare il comportamento del dispositivo RCC (Centro Remoto di Complianza) e di migliorarlo in modo tale che durante l'azione di peg-in-hole il buco sia meno sollecitato dal robot.
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Marchand, Pauline Anne. "Simulation and adaptive control of a robot arm." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25118.
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The equations of motion describing a robot's dynamics are coupled and nonlinear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion. The system parameters are recursively estimated at each control step using least squares. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model is based on the first three links of an existing robot, includes motor dynamics and treats the wrist assembly as a load mass. Simulated test paths requiring movement of the outer two links indicate that the controller adapts and that its behaviour is stable and convergent.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Engardt, Max, Axel Heimburger, and Philip Sydhoff. "Manipulability Index Optimization for a Planar Robotic Arm." Thesis, KTH, Optimeringslära och systemteori, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-103810.
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It is of interest to have high manipulability in robotic manipulators in order to achieve high performance. In this report, a model of a robotic arm manipulator is de ned and analyzed with focus on optimizing the manipulability. The kinematics for the robotic ma- nipulator is used to de ne quantitative measures of manipulability, manipulability indices . Analytical results for dierent manipulability indices are derived. It is shown that a common feature of the indices is that they are independent of the rst angle of the robotic arm. Using numerical optimization, the manipulability measure is optimized under dierent constraints. The manipulability measure is also used when de ning a path for the robotic arm manip- ulator with high manipulability. The path is described by polynomials in the joint space . Numerical optimization of the path is done for several examples. It is concluded that the indices give dierent measures of manipulability and are therefore suitable for dierent prob- lems. It is also shown that the manipulability can be optimized when dierent constraints are imposed and that an optimal radius for the end-eector exists. Lastly, it is concluded that a short path with high manipulability is possible to obtain using the proposed method.
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Paul, Douglas James. "Parallel microcomputer control of a 3DOF robotic arm." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/18371.
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Norder, Petter, and Björn Sandegård. "Realization of a downscaled pendulum-arm suspended forwarder." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-182997.
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Almost all logging in Sweden is carried out by the Cut-To-Length method. The method is carried out by two machines, a harvester and a forwarder. The forwarder transports the cut logs from the forest to a landing area for further transportation. Due to the uneven ground, the operators are subjected to high amplitude vibrations and the vehicle damages the ground soil when the pressure is unevenly distributed between the vehicles wheels. In an endeavor to decrease soil damage and increase the comfort for the operator, Skogforsk in collaboration with eXtractor is developing a pendulum arm suspended forwarder, named XT28. The benefit with such a forwarder is that each pendulum arm and wheel can be controlled individually. In this project a scale model (1:5) of the XT28 was developed and realized in order to enable implementation and development of a control system for its active pendulum arm suspension. A scaled model is much easier to handle and manage when tests is going to be performed. Additionally it is much more cost efficient than working with a full-scaled model. The focus point for this project will be the pendulum arm suspension and as a final test the function of this type of suspension will be tested and examined. Apart from a few design changes the downscaled model is a good representation of the XT28 and can be used in the development of a control system. After testing, it can be said that the downscaled prototype represents the full-scaled forwarder well when it comes to test the function of the pendulum arms.Skogsavverkningen i Sverige utförs nästan uteslutande genom cut-to-length-metoden. Metoden utförs av två maskiner, en skördare och en skotare. Skotaren transporterar fällda träd från skogen till en lastplats för vidare transport. På grund av det ojämna underlaget utsätts operatören för vibrationer med hög amplitud och fordonet skadar underlaget när marktrycket är ojämnt fördelat mellan hjulen. I ett försök att minska markskador och öka komforten för operatören utvecklar Skogforsk i sammarbete med eXtractor en skotare med pendelarmsdämpning, där hjulen kan styras individuellt. Skotaren heter XT28. I detta projekt utvecklades och framställdes en skalmodell (1:5) av XT28 med syftet att möjliggöra förverkligandet och utvecklandet av ett kontrollsystem till den aktiva dämpningen i pendelarmarna. En skalmodell är mycket enklare att hantera när tester skall utföras. Dessutom är det mer kostnadseffektivt jämfört med att arbeta med fullskalemodellen. Detta projekts fokus kommer att ligga på pendelarmarna och som ett slutgiltigt test kommer funktionen av denna dämpning att testas och undersökas. Med undantag av några konstruktionsändringar representerar den nedskalade modellen skotaren XT28 väl och kan användas i utvecklandet av ett kontrollsystem. Efter utförda tester kan det konstateras att den nedskalade prototypen representerar den fullskaliga skotaren väl när det kommer till att testa funktionen av pendelarmsdämpningen.
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Eranki, Venkata Krishna Prashanth, and Gurudu Rishank Reddy. "Design and Structural Analysis of a Robotic Arm." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-13834.
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Automation is creating revolution in the present industrial sector, as it reduces manpower and time of production. Our project mainly deals around the shearing operation, were the sheet is picked manually and placed on the belt for shearing which involves risk factor. Our challenge is designing of pick and place operator to carry the sheet from the stack and place it in the shearing machine for the feeding. We have gone through different research papers, articles and had observed the advanced technologies used in other industries for the similar operation. After related study we have achieved the design of a 3-jointed robotic arm were the base is fixed and the remaining joints move in vertical and horizontal directions. The end effector is also designed such that to lift the sheet we use suction cups were the sheet is uplifted with a certain pressure. Here we used Creo-Parametric for design and Autodesk-Inventor 2017 to simulate the designed model.
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Oberlechner, Steve A. "Arm-wrestling the slipstream a collection of stories /." Morgantown, W. Va. : [West Virginia University Libraries], 2003. http://etd.wvu.edu/templates/showETD.cfm?recnum=3086.
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Kracht, Aaron Arthur. "A Linear Base Articulated Robot Arm for Surgical Endoscopy." NCSU, 2006. http://www.lib.ncsu.edu/theses/available/etd-05152006-160438/.
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This project involved developing a surgical robot assistant using an articulated robot running on a linear axis. The research concentrated on studying the localization of an endoscopic tool. The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator. Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task. For this system, error was used as the performance metric. Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch. Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.
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Opong, George Kofi. "Design of a six-degree-of-freedom mechanical arm." Ohio : Ohio University, 1985. http://www.ohiolink.edu/etd/view.cgi?ohiou1184071995.
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Jacinto, Arturo II. "Unmanned systems: a lab-based robotic arm for grasping." Thesis, Monterey, California: Naval Postgraduate School, 2015. http://hdl.handle.net/10945/45879.
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Approved for public release; distribution is unlimitedThis thesis implements the development of a Robotic Manipulation Laboratory to explore learning opportunities for various student experiments including the initial selection, startup and development of the Robotic arm and glove controller. The Robotic Manipulation Laboratory consists of a 6 Degree of Freedom robotic arm and a resistive glove controller that allows students to achieve hands-on understanding of the physics required to fabricate and maneuver a robotic arm. The Kinova JACO robotic arm was selected for its smooth operation, the ability to alter operational speed and open source programming examples. We chose a glove controller for ease of training and human-like efficiency. Testing on the JACO arm was completed. The JACO software was installed and verified for standalone operations within its range of motion. Tests on glove/arm interaction in the Robotic Operating System were completed and proved ineffective. Experiments with flex sensors on the glove for normal hand movements were completed and were successful.
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Mardas, Constantinos. "Adaptive control in positioning a rigid-flexible robot arm." Thesis, Monterey, California. Naval Postgraduate School, 1988. http://hdl.handle.net/10945/22857.
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The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses
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Al-Annaz, Sa'ad Shakir. "The dynamics and vibration control of a flexible arm." Thesis, University of Newcastle Upon Tyne, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.336267.
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Simon, D. G. "A new sensor for robot arm and tool calibration." Thesis, University of Surrey, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266337.
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Khalil, Tamer. "A novel anthropometric master slave arm system for telepresence." Thesis, University of Strathclyde, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248543.
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Gano, Selam. "Characterizing reaction bandwidths in a position-controlled robotic arm." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119957.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.Cataloged from PDF version of thesis.
Includes bibliographical references (page 11).
Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force bandwidths of a large, 6-DOF robotic arm. Peak force and motion overshoot measurements were taken at varying speeds of the robot. These experiments showed that at speeds as low as 10 mm/s, the robot still exerted over 40 Newtons of force, enough to crush objects typically used for manipulation tasks. Overcoming these issues in using position-controlled arms are difficult to account for with software approaches, but different mechanical solutions can be envisioned to combat this problem in robotic manipulation.
by Selam Gano.
S.B.
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An, Chae-hun. "Trajectory and force control of a direct drive arm." Thesis, Massachusetts Institute of Technology, 1986. http://hdl.handle.net/1721.1/15080.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1986.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING
Bibliography: leaves 155-160.
by Chae Hun An.
Ph.D.
28
Bergstrand, Johan. "Arm motion and deformation of a real-time character." Thesis, Luleå tekniska universitet, Institutionen för konst, kommunikation och lärande, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-69590.
Full textAbstract:
The anatomy of the human body is important in both the video game and the VFX industry. Whenever a limb is bending or moving, there are several different muscles working for this to happen. This work will look at the re-topology of the arm and the moving anatomy around the bending and twisting areas of the arm. A method will be done were three different re-topologies of a muscular arm will be created. These arms will be deformed with common arm movements/animations to find better or worse retopology methods.Anatomin i den mänskliga kroppen är viktig i både tv spels och VFX branschen. När en lem böjer eller rör sig, arbetar flera olika muskler på sig samtidigt för att detta skall hända. Detta arbete kommer undersöka den rörande anatomin omkring dom större böjnings och vridnings områdena i armen. En metod kommer att genomföras där tre olika om-topologier av en muskulös arm kommer att skapas. Dessa armar kommer att deformeras med vanliga arm rörelser/animeringar för att hitta bättre eller sämre om-topologi metoder.
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Tang, Chen. "Design of a Gravity Compensation Actuator for Arm Assistance." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/82201.
Full textAbstract:
This thesis presents the design, simulation, and evaluation of a passive, wearable, and
human-scale actuator that includes pulleys and uses polymers for energy storage. Repetitive
tasks such as packing boxes on an assembly line may require high strength movements of the
shoulder, arm, and hand and may result in musculoskeletal disorders. With the objective
to offset the weight of the arm and thereby lower the forces on the muscles in the shoulder
and arm, this actuator is able to provide gravity compensation for the upper extremities of
workers, if used in conjunction with an arm exoskeleton. The actuator is passive, meaning
that it does not use motors or sensors, but instead creates a force on a cable that is a function
of the displacement of the cable.
This thesis details the design of the actuator and the selection of an appropriate polymer
for use with the actuator. To determine the best polymer for this application, tests were
conducted on nine polymers to ind their average Young's modulus and their hysteresis. A
90A abrasion-resistant polyurethane rubber belt was used in the final design due to its high
modulus and low hysteresis. The final actuator design was tested in an Instron machine to
validate its performance. During testing, the actuator provided 720N in extension and 530N
in retraction, which are roughly 112% and 83% of the torque required to lift a human arm,
respectively.Master of Science
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Chang, Yu-Wei. "Sample Size Determination for a Three-arm Biosimilar Trial." Diss., Temple University Libraries, 2014. http://cdm16002.contentdm.oclc.org/cdm/ref/collection/p245801coll10/id/298932.
Full textAbstract:
StatisticsPh.D.
The equivalence assessment usually consists of three tests and is often conducted through a three-arm clinical trial. The first two tests are to demonstrate the superiority of the test treatment and the reference treatment to placebo, and they are followed by the equivalence test between the test treatment and the reference treatment. The equivalence is commonly defined in terms of mean difference, mean ratio or ratio of mean differences, i.e. the ratio of the mean difference of the test and placebo to the mean difference of the reference and placebo. In this dissertation, the equivalence assessment for both continuous data and discrete data are discussed. For the continuous case, the test of the ratio of mean differences is applied. The advantage of this test is that it combines a superiority test of the test treatment over the placebo and an equivalence test through one hypothesis. For the discrete case, the two-step equivalence assessment approach is studied for both Poisson and negative binomial data. While a Poisson distribution implies that population mean and variance are the same, the advantage of applying a negative binomial model is that it accounts for overdispersion, which is a common phenomenon of count medical endpoints. The test statistics, power function, and required sample size examples for a three-arm equivalence trial are given for both continuous and discrete cases. In addition, discussions on power comparisons are complemented with numerical results.
Temple University--Theses
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Lucas, Michael. "A biological control model of a one-link neuromusculoskeletal sagittal arm." Connect to resource, 2006. http://hdl.handle.net/1811/5994.
Full textAbstract:
Thesis (Honors)--Ohio State University, 2006.Title from first page of PDF file. Document formattted into pages: contains 71 p.; also includes graphics. Includes bibliographical references (p. 70-71). Available online via Ohio State University's Knowledge Bank.
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Nilsson, Philip. "Topology optimization of a swing arm for a track driven vechile." Thesis, Umeå universitet, Institutionen för fysik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149608.
Full textAbstract:
The development in additive manufacturing methods has cleared the path for topology optimizationby making it possible to produce complex geometries, which would not be possible to produce bytraditional manufacturing methods. Topology optimization uses iterative structural computations tond an optimal material distribution given a maximum optimization domain, load cases and/or otherstructural criteria. The relation between retained mass and structural performance of a swing armfor the vehicle BvS10 was examined for two different materials. The first material was an estimate of an additive manufactured material and the other for a high structural steel. Given the extreme load cases, the geometrical limits of the swing arm and by specifying how much mass was to be retained the stiffness was to be maximized. The optimization was performed using an elastic material model in thecommercial software ANSYS. This elastic material models was based on standard material parameters of steel. Three geometries were generated, namely OG100, OG90 and OG80, which corresponded to 101 %, 87 % and 81 % of the mass of the original swing arm, respectively. The optimization procedurewas combined with geometry modications in SpaceClaim to simplify the obtained geometries. All these geometries consisted of a hollow geometry with a greater width compared to the original geometry. The geometries were then evaluated using multilinear plastic material models based on respective material. Using the additive manufactured material model no generated geometry could perform structurally better than the original swing arm. This indicates that greater material properties must be obtainedin order to be able to reduce the weight of the swing arm. By using the material properties of the highstructural steel, it was found that at least 31.3 kg per vehicle could be reduced by using the optimizedgeometry OG80, and still not perform structurally worse than of the original swing arm.Utvecklingen inom additiv tillverkning har öppnat vägen för topologioptimering genom att kunna producera komplexa geometrier, som inte skulle vara möjliga att tillverka med hjälp av traditionella tillverkningsmetoder. Topologioptimering använder iterativa hållfasthetsberäkningar för att finna den optimala materialfördelning givet en maximal optimeringsdomän, lastfall och/eller andra strukturella kriterier. Relationen mellan bibehållen massa och strukturella prestationer hos en pendelarm till fordonet BvS10 har undersökts för två olika material. Det ena materialet var en uppskattning av ett additivt tillverkat material och det andra materialet var ett höghållfasthetsstål. Givet dem extrema lastfall, geometriska begränsningar hos pendelarmen och genom specficera hur mycket massa som skulle behållas så skulle styvheten maximeras. Optimeringarna utfördes med en elastisk materialmodell i den kommersiellamjukvaran ANSYS. Denna elastiska materialmodell var baserad på klassiska materialparametrarfor stål. Tre geometrier genererades. Optimeringsproceduren användes i kombination med geometriska modikationer i SpaceClaim för att förenkla de optimierade geometrierna. Dessa var OG100, OG90 och OG80, vilka motsvarade 101 %, 87 % och 81 % av pendelarmens originalvikt. Alla geometrier bestod av en ihålig geometri med större bredd än originalarmens. Geometrierna utvärderades sedan med hjälp av multilinjära plastiska materialmodeller baserat på respektive material. Ingen av dessa geometrier kunde prestera bättre än originalarmen när det additivt tillverkade materialet användes. Detta indikerar att bättre materialegenskaper måste uppnås för att kunna reducera vikten hos pendelarmen. Genom attanvända höghållfasthetsstålet upptäcktes att åtminstone 31.3 kg per fordon kunde reduceras genom attanvända OG80, och fortfarande inte prestera sämre än originalarmen.
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Connell, Jonathan H. "A Behavior-Based Arm Controller." 1988. http://hdl.handle.net/1721.1/6047.
Full textAbstract:
In this paper we describe a working, implemented controller for a real, physical mobile robot arm. The controller is composed of a collection of 15 independent behaviors which run, in real time, on a set of 8 loosely coupled on-board 8-bit microprocessors. We describe how these behaviors cooperate to actually seek out and retrieve objects using local sensory data. We also discuss the methodology used to decompose this collection task and the types of spatial representation and reasoning used by the system.
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Tan, Shi-Hiang, and 陳世賢. "Development of a Robot Arm." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/05191119539534695715.
Full textAbstract:
碩士雲林科技大學
電機工程系碩士班
98
This thesis developed a control system for robot arm using CAN bus communication network, and applied Maxon motor as joint and Maxon position controller as motor driver. This research developed a six axes robot arm which be controlled on stable, quiet, high speed, high precision. The degree of freedom, or DOF of robot arm is similar to human arm, can operated with some simple motion, such as point to point catch and put object, throw a small ball into a box within 50cm range. In addition, the motor position controller has overcurrent protection which can measures the operating current of motor, and users can set the current threshold to prevent the motor operate with overcurrent. This function can be applied on catching fragile object such as uninstalling a bulb.
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Huang, Ming-wei, and 黃銘偉. "Motion Planning of a Robot Arm." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/97892316927153757903.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
99
The thesis develops a six joints robot arm using NI motion controller card. The system architecture of the robot arm uses Maxon Motors and Maxon Motor drivers, and selects high precision ball screw and vision processing system to program multi-axis motion trajectories. The purpose of the thesis develops a robot arm with stability, high precision, multi-functional operation, and programs motion trajectories. Robot arm uses conversion baseline and encoder to calculate the movement displacement and uses proximity sensors to locate the limit position. Using the baseline value with ball screw of high precision enhance the motion ability. The controller of the robot arm can implement precision point to point motion trajectories. The controller can monitors the programmed motion paths on the user interface, and controls single joint or multiple joints to catch ball. This robot arm uses Cartesian Coordinates to program motion trajectories. It’s able to execute multiple different precision tasks, such as writing, painting, block combination, and dominoes formation, and catches ball using vision processing system, and applies in industry automation fields.
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Wang, Tong-Shih, and 王同世. "A study on polishing using flexible arm." Thesis, 1997. http://ndltd.ncl.edu.tw/handle/87499242118983843768.
Full textAbstract:
碩士國立交通大學
機械工程學系碩士班
86
The main use of robot arm in industry is the carrier of machiningtool in machi ning process. In the realm of flexible arm study, therehave been a lot of stat ic force control method proposed. The main purpose of this paper is to study t he characteristics of flexible armapplied in polishing process, evalutes the c ontrol performance of thesystem, and make a discussion of flexible arm''s poten tial in industrial application.From theoretical and experimental results, it i s found that in machiningprocess, flexible arm system is not asymptotically st able and not controllable. The uncontrollability comes from the factors which can not be influenced by force control command given to flexible arm, this dra wback limits flexible arm''s application in machining process.
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Huang, Lun-Wei, and 黃倫維. "The Intelligent Control of a Robot Arm." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/07278531480695489462.
Full textAbstract:
碩士國立宜蘭大學
電機工程學系碩士班
97
The object of this thesis is to design an LMI-based fuzzy controller for an MIMO two-link robot arm using hierarchical genetic algorithm. The Takagi-Sugeno (T-S) fuzzy model is utilized to represent the equation of motion of the two-link robot arm. After the design of a nonlinear function matrix R, the dynamic equation of the robot arm is built with only four fuzzy rules. The stability of the system is guaranteed by linear matrix inequalities (LMIs) from Lyapunov approach. Genetic algorithms (GAs) are applied to find the best parameter matrix of LMIs. Hierarchical genetic algorithm (HGA) is used to seek both the best membership functions and parameter of LMIs. According to HGAs and LMIs, the parallel distributed compensation (PDC) controller is designed to track the state trajectory of a reference model.
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Chien-ChiLiu and 劉千綺. "A holistic strategic framework on ARM implementation." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/67165077905459164432.
Full textAbstract:
碩士國立成功大學
工業與資訊管理學系碩博士班
98
State appropriations to higher education have declined relative to the rising costs of educating students and the ability of states to fund higher education. In this changing landscape of financing higher education, institutions of higher education are increasingly relying upon private support to keep their programs competitive. As charitable giving of alumni has always been the most significant source of revenue for higher education institutions, it becomes imperative for higher education institutions to cultivate a pool of loyal alumni donors. Existing studies of alumni reveal that cultivating a long- lasting relationship between alumni and their alma mater is significantly important to fostering alumni donors. In fact, long-term relationship between alumni donors and their alma mater has been studied from a relationship marketing perspective and has sparked a new interest in relational marketing. However, researches of alumni donation based on relational or marketing approach is still scarce. This research aims to explore the field of long-term relationship between alumni and university based on the concepts and principles of Customer Relationship Management (CRM), a relational marketing approach evolved from relationship marketing. A strategic framework of Alumni Relationship Management (ARM) is proposed and application of the proposed framework is demonstrated with model tree as the research methodology to analyze and transform alumni data of American higher education institutions into useful alumni knowledge. Based on the result of analysis, concrete suggestions for decision makers to develop ARM strategies are delineated at the end of the research.
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Hsieh, Yi-Li, and 謝宜立. "A Visual and Mobile Pitch Robot Arm." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/07152915428938979450.
Full textAbstract:
碩士國立臺灣海洋大學
電機工程學系
96
This thesis mainly investigates the construction and control of a robot arm, powered by several AI-1001 servomotors, in order to mimic a human arm's motion. The robot arm is controlled via Borland C++ Builder codes, which are transmitted by RS232 to each AI motor. In order for the robot arm to have the vision capability, like a human pitcher, a CCD webcam is added to capture target image. After image processing and analysis, controller can compute and then issue the motion commands to the robot arm. The vision system helps promote system's intelligence and improves pitching precision. Furthermore, placing the robot arm onto an autonomous vehicle increases its mobility. Two experiments are performed to demonstrate its ability. The static target is 9 prearranged rectangles. The dynamic target is an air-floating ball, which is kept in midair using a blower. The blower is fixed on a remote-controlled car, consisting of AT89S51 and RF, and can control the ball trajectory.
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Huang, Yi-Shun, and 黃義順. "Tracking Control of a Flexible Robot Arm." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/91762047956268507299.
Full text
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SU, Yi-Cheng, and 蘇奕誠. "Motion Control of a SCARA Robot Arm." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/56480090818823560270.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
103
The thesis mainly develops a SCARA robot arm. with four degrees of freedom(D,O,F) and program, the motion trajectory to finish the assigned task. The controller of the SCARA robot arm is DELTA programmable logic controller(PLC), The controller can drive four AC servo motors, and integrates driver system, to finish driver control and positioning. We program the control command to control the SCARA robot arm to catch the assigned object. The first and the second degree of the robot arm driven horizontal rotary using the shaft, ball screw spline by Delta servo motor mounted on the robot arm. The system uses two DELTA servo-motor drivers to control the two degrees of freedom. These element are in order to achieve linear Z axis of rotational movement the SCARA robot arm uses ball screw spline element. The SCARA robot arm want get positioning accuracy, repeatability, and other items We must control the robot arm on stable condition., the test project to do the testing and validation of the robot arm.
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Tamblingson, James Edward. "Development of a telerobotic arm control system." 1989. http://catalog.hathitrust.org/api/volumes/oclc/20137091.html.
Full textAbstract:
Thesis (M.S.)--University of Wisconsin--Madison, 1989.Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 147-148).
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Eastwood-Sutherland, C. "Reproducing biological motion in a robotic arm." Thesis, 2012. https://eprints.utas.edu.au/14751/1/front-eastwoodsutherland-thesis-2012.pdf.
Full textAbstract:
Automatic capture of an amputee’s own natural biological arm motion for embedding into their motorised prosthetic arm is a goal that could potentially aid in the use of this type of therapeutic device. In 2007, of the approximately 301 million people in the USA, about 1.7 million were living with limb loss, many of which are upper limb amputees. Quality of life of many of these amputees may be improved through the use of a motorised prosthetic arm, but there are currently limitations of being able to embed into these arms the desired natural motion of the amputee.
This research aims to investigate capturing a single-arm amputee’s natural motion from their remaining biological arm, and automatically translating this into a control algorithm for prosthetic arm motion that may be activated on command. This was done by developing an imaging system for capturing natural arm motion, replaying of the motion on a prosthetic arm, and assessing the performance, functionality and useability of the developed system.
Capturing of natural arm motion was done by developing a custom developed stereo imaging system. The imaging system comprised a portable four-mirror single camera stereographic camera unit housing incorporating a one megapixel monochrome industrial camera capable of infra-red imaging. The system had a capture area of suitable size for tracking a person’s arm motion whilst requiring minimal setup time and being relatively inexpensive.
A series of wireless infrared tracking markers suitable for being worn were designed and constructed. These markers comprised of a series of infrared LEDs in the form of a “band” that can be worn around sections of the arm being tracked, and a marker control board. The marker control boards comprised of a microcontroller, an Xbee wireless module and other basic circuitry to provide power to the control board and marker chain. The tracking markers could be turned on and off wirelessly from the control PC by a series of serial commands.
A LabVIEW based implementation of a 3D motion capture and replay system was created and interfaced with the tracking markers and stereographic camera unit. The 3D motion capture system received images from the industrial camera, and processed these to detect the location of the markers within the images. These locations, when used as inputs to lookup tables, allowed the motion capture system to locate the markers in 3D real-world coordinates.
A motorised prosthetic arm was also interfaced to the system. This arm consisted of a carbon-fibre shell, with three embedded motors used to rotate the elbow in two axes and the wrist in a single axis. The arm was retrofitted with off the shelf servo control boards, allowing all three motors to be controlled through a single USB cable connected to the control PC. The wrist was not used in this research and so only the two elbow motors were used.
The stereo imaging system used a look-up table to determine 3D joint positions from marker position in the stereo images. Accuracy of different interpolation methods were compared to determine which to use in the final system, with cubic interpolation giving better results more often than the linear alternative (~45%, ~62% and ~64% more in the X,Y and Z axes respectively). Further, when comparing average errors, cubic interpolation showed over 10% error reduction for all three axes using a 1cm interpolation resolution, over linear interpolation with the same resolution.
The combined system was tested to determine how accurately a single semi-randomly placed marker could be located. This single point testing showed errors of less than 1.5 cm in the X axis for over two-thirds of the time, with errors less than 3cm in the Y axis also over two-thirds of the time. The Z axis exhibited errors of less than 5cm just under two-thirds of the time. An artificial arm fabricated from cardboard with adjustable flexion and rotation was then used with the combined system to determine how well multiple points could be located, and hence determine the accuracy for resolving the arm’s flexion and rotation angles. This multipoint testing showed errors of less than 5° for the majority of the time. Both single and multipoint testing showed that a purely proportional line of best fit was generally quite close to being a 1:1 relationship between the true values and the predicted output values.
In tests involving patients, patients’ arms were tracked and simultaneously recorded. The recorded motion was immediately replayed in “real-time” to control the motorised prosthetic arm synchronously with the patient’s movements. Patients rated the system through a questionnaire.
Patient trials showed that desired arm motions could be generated more accurately for a patient’s real arm rather than their prosthetic arm, and that it was possible to satisfactorily record motion and accurately replay it through a prosthetic arm. Patients reported that the system was good and enjoyable, but could benefit from further refinements such as increased speed and ease of use.
Single point, multi-point, and patient based results could theoretically be improved by using a higher resolution camera (to increase the pixel:cm ratio), a higher quality mirror unit (to remove mirror based distortions) and finer resolution measurements to increase the amount of data available from which to create the lookup tables. The results of patient trials could be further improved by implementing faster image processing techniques or more powerful hardware to increase the rate at which frames can be captured, leading to a higher availability of motion data.
The system including the four-mirror stereographic camera unit, software and tracking markers was designed successfully, and shown to be able to track, record, and replay motion. Patients found that the system was usable, enjoyable and worked well, and that use of such a system in embedding their desired arm motion into a prosthetic arm would be feasible and of potential benefit.
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RomainSylvestre and 羅永辰. "Design and Dynamic Modeling of a 5-Arm Parallel Robot with Flexible Arms." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/ykemzq.
Full textAbstract:
碩士國立成功大學
航空太空工程學系
106
The 5R parallel manipulator is built of five bars and five revolute joints, where the two revolute joints that are attached to the base are actuated. Such a manipulator can be utilized in high-speed machine tools or as a drilling machine and laser drawing. Considering the promising characteristics of parallel manipulators, and lightweight manipulators, 5R parallel manipulators with four lightweight links are developed, to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators. Lightweight linkages may exhibit structural defection and vibrate because of the inertial forces from high velocity motion, and external forces from actuators. Structural flexibility impacts are considerably more articulated at high operational velocities and accelerations. The thesis proposes a technique of building and simulation of 2 DOF (degree-of-freedom) parallel manipulator with flexible linkage in view of Matlab / SimMechanics, and its direct and inverse kinematics is developed. Numerical simulations of the mechanism are done based one the models made and the desired trajectory and law of motion choses. Essential outcomes got from the simulation are talked about, giving specific consideration to the position error. Toward the end, a thorough conclusion of the whole work is offered and important proposal are forwarded.
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Gupta, Abhishek. "Design and control of a haptic arm exoskeleton." Thesis, 2004. http://hdl.handle.net/1911/17680.
Full textAbstract:
Robot-assisted physical therapy has been shown to aid in the rehabilitation process following neurological injuries. As a therapeutic or training tool, the robot provides a means to implement and evaluate assistance cues to the operator's arm in addition to displaying the forces arising from the dynamics of the virtual environment. Furthermore, training in virtual environments also provides increased repeatability, scalability, safety and a greater control on the experimental setup over training in natural environments. This thesis presents the analysis of various design constraints that apply to the design of such devices. In this context, the author also presents the design of a five degree-of-freedom haptic arm exoskeleton designed for training and rehabilitation in virtual environments. The device has high structural stiffness, minimal backlash, low friction and absence of mechanical singularities in the workspace, which are some of the properties that characterize high quality haptic interfaces. A scheme for the force control of the robot, using a novel joint-based methodology is also presented.
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Lin, Chin-Hua, and 林稚樺. "A Study on Intelligent Assembly by Robot Arm." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/qzpg6u.
Full textAbstract:
碩士國立中興大學
生物產業機電工程學系所
105
In the process of robots development, the robot could be imputed by specific path and followed the program to achieve a particular purpose; therefore, it was widely used to weld, spray, process, and transport object. With the great advancement of technology and the development of sensors, the working role of robot is gradually change from assistance into completely replacement of labor. Intelligent assembly is the indispensable part of this revolutionary change. When assembling, it takes precision very seriously. The old method of assembly, which used camera with image processing technology, not only limited by complicated processing course, but also easily affected by environmental lighting, and the cost is quite expensive as well. This research use laser rangefinder as sensor of robot. The advantage of laser rangefinder is it has relatively stable characteristic under environmental lighting and the data it collects is easy to process. We combine laser rangefinder with object’s traits to finish the work of intelligent assembly. Besides, this research utilizes LabVIEW to integrate sensor and the robot control system, and uses robot movement to collocate 2D laser rangefinder to accomplish the purpose of searching 3D holes and automatic assembling.
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Chang, Jeang-Lin, and 張浚林. "Force Control of A Single Link Flexible Arm." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/16894619702026856181.
Full textAbstract:
碩士國立交通大學
控制工程系
82
In this paper, a scheme similiar to the finite element method is proposed to model a flexible arm which tip position is placed on a fixed plane. We first describe the reaction force at the tip position which is related to the motor angle and the beam deflection. That problem on this fact, the force control problem can be transformed into a position contro problem of the flexible arm. Further a force controller of the flexible arm is designed by the PID control. A vision system is used to measure the beam deflection. A set of experiments for the force control of the flexible arm withuot using a force sensor has been carried out. Several experimental results are showen for demonstration.
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Chen, Liang-Hung, and 陳亮宏. "A Single-arm Pulse-wave Velocity Measurement System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/30808603066154806654.
Full textAbstract:
碩士國立中央大學
電機工程學系
104
Most of the current commercial electronic sphygmomanometers use the oscillometric method. The oscillometic method occludes blood flow by using the inflatable cuff, and using a piezoelectric pressure sensor to detected the pulsatility in arterial wall. To improve the user’s comfort and monitor the short term trend of blood pressure, in recent years, some researchers propose a novel cuffless blood pressure measurement system by using the pulse wave velocity (PWV) technique. These measurement system measure Lead I ECG from both hands and the fingertip PPG, and then calculate the Systolic blood pressure (SBP) by compute the time delay between the electrocardiogram (ECG) R peak and the Photo-plethysmography (PPG) characteristics. However, the measurement of ECG from both hands is inconvenient and the clip of fingertip PPG is uncomfortable after long-time use. Therefore, in this study, we proposed a novel system by measuring single-arm ECG and wrist reflectance-based PPG. We first create a SBP estimation model from nine health subjects (mean ages = 25.1±4.3321 years-old), and the apply the model on ten normal subjects (mean ages = 41.6±14.2 years-old) and twelve hypertension patients (mean ages = 52.75±10.1 years-old). The estimated error in the ten normal subjects and the twelve hypertension patients are 1.71±1.34% and 5.71±4.54%, respectively, which demonstrate the feasibility of the proposed system. Future work will apply our method on wearable devices in order to provide a convenient and accurate way for long-term SBP monitoring.
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Lam, RHY. "Hardware-software system design for a robot arm." Thesis, 1987. https://eprints.utas.edu.au/20267/7/whole_LamRaymondHangYick1988.pdf.
Full textAbstract:
This project is the design, implementation and evaluation
of a control system for a robot manipulator. It is
initiated as a foundation research in robotics in the
Electrical Department, University of Tasmania. The TasrobotO
is the first robot arm built in the Department. The design
includes all the necessary electronic hardwares as well as
softwares for the control of the manipulator.
A complete robot system is a multi-variable, interacting
and non-linear system with time-varying parameters. As
Hewit has pointed out: "no applicable corpus of control
theory exists to deal with systems possessing such a
combination of problematic features", the design of suitable
controllers is impossible without making assumptions to
simplify the system. As it is still in the developing stage, the size and
weight of the TasrobotO manipulator is far less than
commonly encountered working robots. The interactions
between the manipulator links are small. The joint systems
are thus assumed to be mutually independent systems, with
time-varying parameters resulting from changes in the arm
configuration. With a suitable controller, this time-varying
effect was shown to be insignificant in the closed-loop
•dynamic response of each joint system.
A trajectory planning technique was developed to
generate cubic spline segment functions which interpolate
between specified joint coordinates. This technique offers optimality in the sense that it defines the shortest curve
passing through the specified points while at the same time
satisfying the velocity and acceleration contraints. In the
operation mode, command signals are generated in real time
from segment functions derived for each joint to control its
motion. This helps smoothen jerky motions and reduce the
deviations of the executed path from the planned path.
The design and developed techniques have been tested
and are in use today controlling TasrobotO.
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Chun, Chen Ke, and 陳科鈞. "Research on Automatic Polishing Using a Robot Arm." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/70063100858088143872.
Full textAbstract:
碩士長庚大學
機械工程研究所
95
The main purpose of this research is to propose a feasible automatic tool-path design strategy for polishing metal parts. The strategy combines a commercialized CAD/CAM tools (Pro-NC) with a coordinate transformation technique. The demonstrated tasks are divided into two styles: work-pieces held by the robot arm to be polished with a rotating machine, and tools held by the arm to polish static work-pieces. Experimental results show that the strategy could be used in practical industrial manufacturing processes if human-machine interface is improved.