Sökning: "manipulators"

Visar resultat 1 - 5 av 34 avhandlingar innehållade ordet manipulators.

  1. 1. On Modeling and Control of Flexible Manipulators

    Författare :Stig Moberg; Svante Gunnarsson; Anders Robertsson; Linköpings universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; multivariable systems; differential-algebraic equations; robots; manipulators; flexible structures; robustness; position control; nonlinear systems; closed-loop identification; frequency-response methods; industrial robots; robotics; control; feedforward; flexible arms; Automatic control; Reglerteknik;

    Sammanfattning : Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. LÄS MER

  2. 2. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators

    Författare :Uwe Mettin; Anton Shiriaev; Alin Albu-Schäffer; Umeå universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Underactuated Mechanical Systems; Redundant Manipulators; Virtual Holonomic Constraints; Orbital Stabilization; Human Movement; Walking Robots; Hydraulic Manipulators; Electrical engineering; Elektroteknik; Automatic Control; reglerteknik;

    Sammanfattning : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. LÄS MER

  3. 3. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. LÄS MER

  4. 4. Control, Models and Industrial Manipulators

    Författare :Erik Hedberg; Johan Löfberg; Mikael Norrlöf; Anders Robertsson; Linköpings universitet; []
    Nyckelord :ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Sammanfattning : The two topics at the heart of this thesis are how to improve control of industrial manipulators and how to reason about the role of models in automatic control.On industrial manipulators, two case studies are presented. LÄS MER

  5. 5. Tactile Grasping for Domestic Service Robots : Simulations, Experiments and Hand Design

    Författare :Johan Tegin; Jan Wikander; Rüdinger Dillman; KTH; []
    Nyckelord :Manipulators; Simulation; Robot tactile systems; Modeling; Grasping; Tactile sensors; Mechanical engineering; Maskinteknik;

    Sammanfattning : This thesis presents methods and tools for robotic grasping. The application in mind is service robots for a home environment, although the work also has applications in other areas. Service robots must be capable of manipulation, i.e. LÄS MER