Visar resultat 1 - 5 av 34 avhandlingar innehållade ordet manipulators.
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. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
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
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
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
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