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Dissertations / Theses on the topic 'Manipulators (Mechanism)'

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Published: 4 June 2021

Last updated: 30 July 2024

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1

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.

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2

Lee, 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.

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3

Oosting, 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.

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4

Alberts, 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.

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5

Hastings, Gordon Greene. "Controlling flexible manipulators, an experimental investigation." Diss., Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/16691.

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6

Gupta, 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.

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7

Smith, David Rowland. "Design of solvable 6R manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/18861.

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8

Yiu, 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.

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9

Lou, Yunjiang. "Optimal design of parallel manipulators /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?ECED%202006%20LOU.

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10

Tahboub, Karim Abdul Majid. "Digital control for flexible manipulator arms." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17210.

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11

Pan, Ya-Dung 1960. "Teleoperation of mechanical manipulators aboard the US space station." Thesis, The University of Arizona, 1987. http://hdl.handle.net/10150/276611.

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This study presents a new analytical controller design strategy for the teleoperation of mechanical manipulators aboard the U.S. space station. This controller design strategy emphasizes on the stability of a closed-loop control system involving time delay. Simplified dynamic equations of the Stanford arm are considered as the manipulator model. A local linearizing and decoupling control algorithm is applied to linearize and decouple the dynamic equations. Once the linear form of the manipulator is obtained, a model prediction control loop is constructed and implemented as a digital controller to provide the predictive states information, and a particular model reduction method is applied to yield a reduced-order digital controller. This reduced-order digital controller is a highly self-tuned controller which can control the closed-loop system with time delay by following a specified performance.

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12

Pond, 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.

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13

Pohl, Eric David. "Analysis of singular configurations for robotic manipulators." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/18368.

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14

Grosser, Karen Erica. "Input shaping for telerobotic manipulators." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21428.

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15

Lew, Jae Young. "Control of bracing micro/macro manipulators." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/15867.

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16

Pohl, Eric David. "On mappings of complex inverse kinematics solutions." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/18362.

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17

Anderson, 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.

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18

Cannon, 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.

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19

Dawson, Darren. "Uncertainties in the control of robot manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15737.

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20

Cocca, Christopher David. "Failure recovery in redundant serial manipulators /." Digital version accessible at:, 2000. http://wwwlib.umi.com/cr/utexas/main.

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21

Kang, Hoon. "Intelligent/adaptive control strategies for robot manipulators." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/13882.

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22

Studenny, 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.

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The control law that is investigated in this thesis is referred to as the acceleration feedback control law, first introduced by (Luo and Saridis 1983). The study of the error performance of this control law under non-ideal conditions is the subject of this thesis. A design methodology evolves from the theoretical foundations of the acceleration feedback control law. The design methodology yields a robust, high performance closed loop robot manipulator system. Design experiments are performed on a PUMA 600 robot manipulator and the closed loop performance is analyzed by simulation study.
The 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.

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23

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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24

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.

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25

Kendricks, 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.

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26

Guo, 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.

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27

Zhao, 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.

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28

Johnson, 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.

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29

Tomlinson, 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.

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30

Gehrman, 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.

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31

Joh, Joongseon. "Geometrical analysis of underconstrained robotic mechanisms." Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17321.

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32

Wilson, Thomas Rowe. "The design and construction of a flexible manipulator." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17354.

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33

Obergfell, 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.

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34

Yuan, Bau-San. "Adaptive strategies for controls of flexible arms." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/17683.

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35

Shah, Dharmen. "Development of an in-parallel actuated end-effector." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17904.

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36

Park, Young Soo. "Practical applications of complex joint angle solutions for robotic manipulators." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/18231.

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37

Sandberg, 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.

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38

Call, Anson Jay. "Dynamic modeling and simulation of a snake-like robot." Thesis, Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/19523.

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39

Beckman, Steven Joseph. "Sensor fusion for the identification of randomly oriented parts." Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/19657.

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40

Grier, 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.

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Control and other issues related to the use of modular robotic fingers to perform dexterous manipulation are considered. The specific manipulation strategy to be implemented, which focuses on parts acquisition and takes advantage of sliding contacts which exist between the fingers and the object being manipulated, is described. The results of early implementation efforts are discussed in which a standard individual-actuator PID control approach was used. Problems related to friction and other effects are identified which were encountered in these early efforts. A computed torque control scheme which provides adaptive friction compensation is proposed for future use with the fingers. Results are discussed of simulations performed to help determine if use with the fingers of this proposed approach will improve system tracking performance in the presence of a variety of disturbances like those which will affect the fingers during actual operation. Implications of results for future implementation efforts are discussed.

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41

Huggins, 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.

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42

Law, 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.

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Thesis (M. Phil.)--University of Hong Kong, 1995.
Cover title: Model-based variable-structure control of robot maniqulators in joint space and in Cartesian space. Includes bibliographical references (leaf 161-175).

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43

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.

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44

Chan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.

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45

Koenig, Mark A. "A DECENTRALIZED ADAPTIVE CONTROL SCHEME FOR ROBOTIC MANIPULATORS." Thesis, The University of Arizona, 1985. http://hdl.handle.net/10150/275238.

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46

Calkins, 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/.

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47

Sun, 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.

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48

Maliotis, Gregorios N. "Adaptive control of partially known robotic manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15871.

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49

Kim, Dong Hwan. "Robust control design for flexible joint manipulators." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/16484.

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50

Ma, 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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