Dissertations / Theses on the topic 'Manipulators (Mechanism)'
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Hopkins, Brian. "Modified ParaDex: Theory and hardware implementation of a 6-prismatic-spherical-universal parallel manipulator." Ohio : Ohio University, 2001. http://www.ohiolink.edu/etd/view.cgi?ohiou1173899557.
Full textLee, Kam-fat Jonathan. "Design and control of a robotic manipulator with an active pneumatic balancing system /." [Hong Kong] : University of Hong Kong, 1992. http://sunzi.lib.hku.hk/hkuto/record.jsp?B13194367.
Full textOosting, Kenneth W. "Simulation of control strategies for a two degree-of-freedom lightweight flexible robotic arm." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/18230.
Full textAlberts, Thomas Edward. "Augmenting the control of a flexible manipulator with passive mechanical damping." Diss., Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/19442.
Full textHastings, Gordon Greene. "Controlling flexible manipulators, an experimental investigation." Diss., Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/16691.
Full textGupta, Pramod. "Neurocontrol of robotic manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0018/NQ42740.pdf.
Full textSmith, David Rowland. "Design of solvable 6R manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/18861.
Full textYiu, Yiu Kuen. "Geometry, dynamics and control of parallel manipulators /." View Abstract or Full-Text, 2002. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202002%20YIU.
Full textLou, Yunjiang. "Optimal design of parallel manipulators /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?ECED%202006%20LOU.
Full textTahboub, Karim Abdul Majid. "Digital control for flexible manipulator arms." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17210.
Full textPan, Ya-Dung 1960. "Teleoperation of mechanical manipulators aboard the US space station." Thesis, The University of Arizona, 1987. http://hdl.handle.net/10150/276611.
Full textPond, Christopher Burke. "Motion planning for flexible manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ37358.pdf.
Full textPohl, Eric David. "Analysis of singular configurations for robotic manipulators." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/18368.
Full textGrosser, Karen Erica. "Input shaping for telerobotic manipulators." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21428.
Full textLew, Jae Young. "Control of bracing micro/macro manipulators." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/15867.
Full textPohl, Eric David. "On mappings of complex inverse kinematics solutions." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/18362.
Full textAnderson, Karen 1959. "Inverse kinematics of robot manipulators in the presence of singularities and redundancies." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66208.
Full textCannon, David Wayne. "Command generation and inertial damping control of flexible macro-micro manipulators." Thesis, Georgia Institute of Technology, 1996. http://hdl.handle.net/1853/18212.
Full textDawson, Darren. "Uncertainties in the control of robot manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15737.
Full textCocca, Christopher David. "Failure recovery in redundant serial manipulators /." Digital version accessible at:, 2000. http://wwwlib.umi.com/cr/utexas/main.
Full textKang, Hoon. "Intelligent/adaptive control strategies for robot manipulators." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/13882.
Full textStudenny, John. "Control of robotic manipulators using acceleration feedback." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=75351.
Full textThe control law objective is to ensure that the manipulator joint coordinate trajectory is maintained with respect to a desired joint trajectory. The stability and error performance properties of the acceleration feedback control law are analytically examined by a Lyapunov stability analysis. The effects of integral control and computed torque augmentation are also examined in the stability and error performance analysis. The robustness properties, in the presence of high frequency unstructured uncertainties, are examined by classical frequency domain techniques. The theoretical results are verified by simulation. The simulation model test-bed is based on a PUMA 600 robot manipulator which is used throughout the thesis to support theoretical results.
The goal of this thesis is in presenting the acceleration feedback control law with an accompanying design methodology as a practical robot manipulator control law. The design methodology allows robot manipulator system designers to implement this control law as a simple, inexpensive, microprocessor based servomechanism at each joint. The theoretical development not only accounts for the intrinsic design trade-offs but also assures designers that the implementation will yield a robust, high performance closed loop system. This detailed design methodology is presented and a sample design is carried out and verified by simulation. The effects due to sampling, quantization, friction and frequency uncertainty are included in the simulation study.
Marchand, Pauline Anne. "Simulation and adaptive control of a robot arm." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25118.
Full textApplied Science, Faculty of
Mechanical Engineering, Department of
Graduate
Meng, Jian. "A geometric theory for synthesis, analysis and design of sub-6 DoF parallel manipulators /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20MENGJ.
Full textKendricks, Kimberly. "Solving the inverse kinematic robotics problem a comparison study of the Denavit-Hartenberg matrix and Groebner basis theory /." Auburn, Ala., 2007. http://repo.lib.auburn.edu/07M%20Dissertations/KENDRICKS_KIMBERLY_56.pdf.
Full textGuo, Zhijiang. "Design and optimization of weighted orthogonal Gough-Stewart platforms with desired dynamics." Laramie, Wyo. : University of Wyoming, 2006. http://proquest.umi.com/pqdweb?did=1225139851&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.
Full textZhao, Xing. "The design and control of uncertain manipulator arms with decoupled inertia matrix." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/12251.
Full textJohnson, Roger Warren. "Design and development of a three link in-parallel actuating prototype manipulator." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/15961.
Full textTomlinson, Charles M. "Design and construction of a three degree-of-freedom lightweigh passively-damped robot arm." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/17094.
Full textGehrman, Daniel John. "Utilization of force sensing in the modified inverse damping control of robot manipulators." Thesis, Georgia Institute of Technology, 1987. http://hdl.handle.net/1853/17279.
Full textJoh, Joongseon. "Geometrical analysis of underconstrained robotic mechanisms." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17321.
Full textWilson, Thomas Rowe. "The design and construction of a flexible manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17354.
Full textObergfell, Klaus. "A vision-based end-point control for a two-link flexible manipulator." Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17654.
Full textYuan, Bau-San. "Adaptive strategies for controls of flexible arms." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/17683.
Full textShah, Dharmen. "Development of an in-parallel actuated end-effector." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17904.
Full textPark, Young Soo. "Practical applications of complex joint angle solutions for robotic manipulators." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/18231.
Full textSandberg, Robert D. "Use of tactile and vision sensing for recognition of overlapping parts for robot manipulation." Thesis, Georgia Institute of Technology, 1985. http://hdl.handle.net/1853/18910.
Full textCall, Anson Jay. "Dynamic modeling and simulation of a snake-like robot." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/19523.
Full textBeckman, Steven Joseph. "Sensor fusion for the identification of randomly oriented parts." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/19657.
Full textGrier, Michael Anthony 1956. "Control of modular robotic fingers toward dexterous manipulation with sliding contacts." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276988.
Full textHuggins, James D. "Experimental verification of a model of a two-link flexible, lightweight manipulator." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/16767.
Full textLaw, Po-lun. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space /." Hong Kong : University of Hong Kong, 1995. http://sunzi.lib.hku.hk/hkuto/record.jsp?B18973097.
Full textCover title: Model-based variable-structure control of robot maniqulators in joint space and in Cartesian space. Includes bibliographical references (leaf 161-175).
Ng, Kam-seng. "Multiagent joint control for multi-jointed redundant manipulators." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/hkuto/record/B32046595.
Full textChan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.
Full textKoenig, Mark A. "A DECENTRALIZED ADAPTIVE CONTROL SCHEME FOR ROBOTIC MANIPULATORS." Thesis, The University of Arizona, 1985. http://hdl.handle.net/10150/275238.
Full textCalkins, Joseph M. "Real-time compensation of static deflections in robotic manipulators." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-12052009-020254/.
Full textSun, Qiao. "Dynamics analysis of flexible-link cooperating manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/nq21951.pdf.
Full textMaliotis, Gregorios N. "Adaptive control of partially known robotic manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15871.
Full textKim, Dong Hwan. "Robust control design for flexible joint manipulators." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/16484.
Full textMa, Yu-xu Lecky. "Discrete iterative learning control of robotic manipulators /." [Hong Kong : University of Hong Kong], 1991. http://sunzi.lib.hku.hk/hkuto/record.jsp?B13142896.
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