Literatura académica sobre el tema "Cable manipulation"
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Artículos de revistas sobre el tema "Cable manipulation"
Almaghout, Karam y Alexandr Klimchik. "Manipulation Planning for Cable Shape Control". Robotics 13, n.º 1 (17 de enero de 2024): 18. http://dx.doi.org/10.3390/robotics13010018.
Texto completoNozaki, Kyoto, Changjian Ying, Yuichiro Matsuura y Kimitoshi Yamazaki. "Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability". International Journal of Automation Technology 17, n.º 4 (5 de julio de 2023): 399–409. http://dx.doi.org/10.20965/ijat.2023.p0399.
Texto completoSanchez, Daniel, Weiwei Wan y Kensuke Harada. "Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer". Robotics 9, n.º 1 (6 de marzo de 2020): 11. http://dx.doi.org/10.3390/robotics9010011.
Texto completoCho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim y Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks". Journal of Marine Science and Engineering 9, n.º 5 (30 de abril de 2021): 483. http://dx.doi.org/10.3390/jmse9050483.
Texto completoGebauer, Daniel, Jonas Dirr, Luca Martin y Rüdiger Daub. "Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors". Applied Sciences 13, n.º 11 (25 de mayo de 2023): 6462. http://dx.doi.org/10.3390/app13116462.
Texto completoZhou, Xiaobo, Seung-kook Jun y Venkat Krovi. "Tension distribution shaping via reconfigurable attachment in planar mobile cable robots". Robotica 32, n.º 2 (27 de noviembre de 2013): 245–56. http://dx.doi.org/10.1017/s0263574713001008.
Texto completoAlmaghout, K. y A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables". Nelineinaya Dinamika 18, n.º 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.
Texto completoLi, Changquing y Christopher D. Rahn. "Design of Continuous Backbone, Cable-Driven Robots". Journal of Mechanical Design 124, n.º 2 (16 de mayo de 2002): 265–71. http://dx.doi.org/10.1115/1.1447546.
Texto completoEstevez, Julian, Gorka Garate, Jose Manuel Lopez-Guede y Mikel Larrea. "Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors". Drones 8, n.º 2 (25 de enero de 2024): 35. http://dx.doi.org/10.3390/drones8020035.
Texto completoLin, J., CS Huang y J. Chang. "A mechatronic kit with a control methodology for a modualized cable-suspended robot". Journal of Vibration and Control 22, n.º 20 (10 de agosto de 2016): 4211–26. http://dx.doi.org/10.1177/1077546315573905.
Texto completoTesis sobre el tema "Cable manipulation"
Smolentsev, Lev. "Shape visual servoing of a suspended cable". Electronic Thesis or Diss., Université de Rennes (2023-....), 2024. http://www.theses.fr/2024URENS009.
Texto completoThis PhD thesis deals with robotic interaction with deformable objects. It presents a robotic control approach for the autonomous manipulation of a deformable cable attached between 2 robots and subjected to gravity. The research work focused on developing a visual servoing approach that uses an RGB-D camera to extract the shape of the cable and the yaw angle of the vertical plane containing it. To design the system control, we proposed to use, as visual features, the coefficients of a parabolic curve representing an approximation of the cable shape and the yaw angle of its plane. The interaction model that relates the variations of these visual features to the velocities of the cable extremities was analytically derived. Experimental results were first obtained with a robotic arm manipulating one end of the cable, demonstrating the effectiveness of this visual servoing approach in deforming the cable to a desired shape configuration. This approach was then adapted to aerial robotic manipulation and experimentally validated on a robotic scenario that involves the grasping and transport of an object by a tether cable manipulated by two quadrotor UAVs with one being equipped with an RGB-D camera and controlled by the proposed visual servoing method
Kumar, Atal Anil. "Conception et commande d'un robot à câbles pour la manipulation dextre de pièces sur des chaînes de production". Electronic Thesis or Diss., Université de Lorraine, 2020. http://www.theses.fr/2020LORR0269.
Texto completoThis thesis aims to design and control an underactuated Cable-Driven Parallel Robot (CDPR) with four cables for the agile handling of parts in a manufacturing line. For already installed manufacturing lines, most of the available working space is often used, and adding a new serial robot on the workshop ground is sometimes difficult. Using the ceiling to fix heavy machines is not always possible, and it could be necessary to reinforce the structure. CDPR is a way to achieve the work with a light structure, with low modification of the existing workshop. The novelty of the work lies in the fact that the majority of the existing designs place the actuating motors and the winches on the base platform, whereas in this work, the actuating motors are placed on the moving platform, making it convenient for the CDPR to be fixed in the manufacturing line with simple anchor points. First, the workspace of the CDPR for the desired environment is investigated. The underactuated nature of the robot and the positive cable tension constraint imposed due to the flexibility of the cable limit the workspace investigation to static equilibrium conditions. The classical static equilibrium equations have been used to calculate the robot workspace and the corresponding behavior of the plat- form orientation angles have been presented. Several case studies have been shown with different payloads attached to the moving platform. The dimensions of the moving platform and the base structure have also been changed to understand the possible region of the workspace where the robot performance can be satisfactory. The prototype dimensions have been fixed taking into account the workspace performance. Following this, the classical dynamic model developed in the field of CDPR has been used to implement the control law on the CDPR. The second part of the thesis presents the design and implementation of the control laws for the CDPR. The classical Input-Output Feedback Linearization (IOFL) technique is developed and simulation results have been presented. The role of internal dynamics present in the system because of the underactuation is demonstrated using their phase-plane plots. Two possible solutions have been suggested to reduce the effect of internal dynamics on the system. The first solution is to use appropriate dimensions for the platform and the base structure. Simulation results have been presented to show the behavior of the platform when the dimensions are changed. A Modified Feedback Linearization (MFL) has been proposed as an ad-hoc solution for eliminating the effects of the internal dynamics. The simulation results obtained show that the proposed ad-hoc solution performs efficiently and significantly better than the classical IOFL technique for certain dimensions of the CDPR. The use of this approach for different cases of CDPR needs to be investigated. Experimental results validating the IOFL technique are presented to demonstrate the satisfactory behavior of the CDPR with the control law developed during the thesis. The overall objective of the project is to develop a CDPR that can work with an operator in a fully functional manufacturing line and aid the worker in lifting heavy or hot objects. This thesis achieves the first step in making a functional prototype of a CDPR which will be improved further to make it collaborative
Meunier, Gabriel. "Control of an overactuated cable-driven parallel manipulator". Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99779.
Texto completoMontgomery, Forrest. "Design and Control of a Planar Cable Suspended Parallel Manipulator". Thesis, University of Louisiana at Lafayette, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10608124.
Texto completoCable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference.
Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type
CSPM
, and the other has two connection points, a suspended plate typeCSPM
. The model's dynamic properties were explored to create system input commands that limited residual vibration. Simulations were run demonstrating the effectiveness of the control methods.The simulations were verified using experimental data. The pendulum type
CSPM
experiments were performed on a small-scaleCSPM
setup, while the platform typeCSPM
experiments were performed on a full-scale bridge-inspecting robot. The control method created for both experiments proved to reduce the vibration opposed to no control method. TheCSPM
model was also used to create a cooperative input control method, which reduced the risetime of the control command, while still providing vibration reduction.
Montgomery, Robert H. (Robert Hall). "Design and analysis of a lightweight parallel cable-controlled manipulator". Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14687.
Texto completoChan, Edmon. "Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator". Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/835.
Texto completoElghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
Texto completoThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
Ben, abdallah Fida. "Modeling and control of a cabel driven parallel manipulator suspended by a heavy lift airship". Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLE009/document.
Texto completoIn the recent years, researchers have become increasingly interested in the development of radically new and sustainable transportation modes for both passengers and cargo. These challenges have led to study in areas of knowledge that were dormant, such as the potential of using lighter than air aircraft for cargo transportation. The focus of this thesis is the development of a control architecture that can be integrated on autonomous heavy lift airship and thereby enables safe cargo exchange process. Besides, the dynamic model of the heavy lift airship must be clarified before designing a controller. This system makes use of a Cable Driven Parallel Manipulator (CDPM), allowing the airship to load and unload cargo while hovering. The heavy lift airship is a multi-body systems in which multiple rigid bodies are joined together. During loading and unloading process, the transferred cargo can oscillate due toairship maneuvers. On the other hand, the pendulum-like behavior of suspended load canalter the flight characteristics of the airship. The thesis contributions are presented in two parts. In the first part, we assume that there is no inertial coupling between the airship and CDPM. Hence, our researches concern only the CDPM tacking into account the base mobility at first and then the cable sagging phenomena. The control design should integrate an optimal tension distribution since cables must remain in tension.In the second part, we address the analysis of the heavy lift airship considering the coupling effect between the suspended payload and the airship. To describe the dynamics coupling, the basic motion of one subsystem is regarded as an external disturbance input for the other one. Hence, the dynamic model of this multi-body system composed of the airship and the CDPM can be modeled as an interconnection of lower order subsystems. We assume that the heavy lift airship is a weakly coupled subsystems. Based on this assumption, we design a decentralized controller, which makes it possible to control the airship and the CDPM independently. Numerical simulation results are presented and stability analysis are provided to confirm the accuracy of our derivations
Riechel, Andrew T. "Force-Feasible Workspace Analysis and Motor Mount Disturbance Compensation for Point-Mass Cable Robots". Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5243.
Texto completoBulenínec, Martin. "Aplikace lanového robota". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316240.
Texto completoLibros sobre el tema "Cable manipulation"
The book of photography. London: DK Pub., 2005.
Buscar texto completoCapítulos de libros sobre el tema "Cable manipulation"
Zarebidoki, Mahmoud. "Adaptive Robust Control of a Cable-Driven Underwater Manipulator with Elastic Cables". En Robot Intelligence Technology and Applications 7, 365–72. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-26889-2_33.
Texto completoMaier, T. y C. Woernle. "Inverse Kinematics for an Underconstrained Cable Suspension Manipulator". En Advances in Robot Kinematics: Analysis and Control, 97–104. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_10.
Texto completoHeyden, T., T. Maier y C. Woernle. "Trajectory Tracking Control for a Cable Suspension Manipulator". En Advances in Robot Kinematics, 125–34. Dordrecht: Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_14.
Texto completoTang, Ruijie, Qizhi Meng, Fugui Xie, Xin-Jun Liu y Jinsong Wang. "Cable-Driven Redundant Manipulator with Variable Stiffness Mechanisms". En Advances in Mechanism, Machine Science and Engineering in China, 1263–79. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-9398-5_78.
Texto completoDai, Yicheng, Xiran Li, Xin Wang y Han Yuan. "A Novel Cable-Driven Manipulator with Constant-Curvature Deflections and Equal Displacements of the Antagonistic Cables". En Intelligent Robotics and Applications, 76–87. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13841-6_8.
Texto completoBerkelman, Peter J., Philippe Cinquin, Jocelyne Troccaz, Jean-Marc Ayoubi y Christian Létoublon. "Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator". En Medical Image Computing and Computer-Assisted Intervention — MICCAI 2002, 17–24. Berlin, Heidelberg: Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/3-540-45786-0_3.
Texto completoPachouri, Vipin y Pushparaj Mani Pathak. "Inverse Kinematic Model of a Cable-Driven Continuum Manipulator". En Lecture Notes in Mechanical Engineering, 553–64. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-1769-0_50.
Texto completoLi, Yanan, Ying Li, Deshan Meng, Yu Liu, Xueqian Wang y Bin Liang. "Tension Optimization of a Cable-Driven Coupling Manipulator Based on Robot Dynamics with Cable Elasticity". En Intelligent Robotics and Applications, 399–411. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-27535-8_36.
Texto completoHoroub, Mamon, Mahir Hassan y Muhammad Hawwa. "A Floating Cable-Driven Robotic Manipulator in a Marine Environment". En Advances in Mechanism and Machine Science, 2893–906. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20131-9_286.
Texto completoYao, Rui, Hui Li y Xinyu Zhang. "A Modeling Method of the Cable Driven Parallel Manipulator for FAST". En Mechanisms and Machine Science, 423–36. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-31988-4_26.
Texto completoActas de conferencias sobre el tema "Cable manipulation"
Xu, Shaohang, Yian Wang, Wentao Zhang, Chin Pang Ho y Lijun Zhu. "Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load". En 2024 IEEE International Conference on Robotics and Automation (ICRA), 4591–97. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610348.
Texto completoMonguzzi, Andrea, Yiannis Karayiannidis, Paolo Rocco y Andrea Maria Zanchettin. "Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts". En 2024 IEEE International Conference on Robotics and Automation (ICRA), 16139–45. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610686.
Texto completoZhou, Xiang, Xianzhi Wu, Hanqin Liu, Zhufeng Shao, Yuanzeng Song, Minjian Huang, Jinbo Qie y Huaizhi Cao. "Design and Analysis of 7-DOF Cable-Driven Manipulator". En 2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE), 441–47. IEEE, 2024. http://dx.doi.org/10.1109/cacre62362.2024.10635053.
Texto completoHavlik, Stefan. "Cable Suspended Manipulation Robots". En 16th International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 1999. http://dx.doi.org/10.22260/isarc1999/0041.
Texto completoRezazadeh, Siavash y Saeed Behzadipour. "Tensionability Conditions of a Multi-Body System Driven by Cables". En ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-42433.
Texto completoJung, Jinwoo, Jinlong Piao, Eunpyo Choi, Jong-Oh Park y Chang-Sei Kim. "Investigation on the Vibration of High Speed Cable Robot Manipulation due to Tension Around Drum". En ASME 2019 28th Conference on Information Storage and Processing Systems. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/isps2019-7455.
Texto completoMasoud, Ziyad N. "Differential Cable Length Manipulation for Oscillation Control of Quay-Side Container Cranes". En ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85320.
Texto completoZhao, Qianwen, Guoqing Zhang, Hamidreza Jafarnejadsani y Long Wang. "A Modular Continuum Manipulator for Aerial Manipulation and Perching". En ASME 2022 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/detc2022-90595.
Texto completoDong, Siyuan, Shaoxiong Wang, Yu She, Neha Sunil, Alberto Rodriguez y Edward Adelson. "Cable Manipulation with a Tactile-Reactive Gripper". En Robotics: Science and Systems 2020. Robotics: Science and Systems Foundation, 2020. http://dx.doi.org/10.15607/rss.2020.xvi.029.
Texto completoLin, Siyu, Xin Jiang y Yunhui Liu. "Cable manipulation with partially occluded vision feedback". En 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2022. http://dx.doi.org/10.1109/robio55434.2022.10011815.
Texto completoInformes sobre el tema "Cable manipulation"
Wang, S. L. y P. Santiago. On stiffening cables of a long reach manipulator. Office of Scientific and Technical Information (OSTI), febrero de 1996. http://dx.doi.org/10.2172/184254.
Texto completoWang, S. L. Control of a long reach manipulator with suspension cables for waste storage tank remediation. Final report. Office of Scientific and Technical Information (OSTI), diciembre de 1994. http://dx.doi.org/10.2172/179213.
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