Sökning: "robot kinematics"

Visar resultat 6 - 10 av 14 avhandlingar innehållade orden robot kinematics.

1. 6. On Kinematic Modelling and Iterative Learning Control of Industrial Robots

   Författare :Johanna Wallén; Mikael Norrlöf; Svante Gunnarsson; Geir Hovland; Linköpings universitet; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Industrial robots; kinematics; Maple; modelling; iterative learning control; experiments; Automatic control; Reglerteknik;

   Sammanfattning : Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. LÄS MER

3. 7. Online Learning for Robot Vision

   Författare :Kristoffer Öfjäll; Michael Felsberg; Carl Henrik Ek; Linköpings universitet; []
   Nyckelord :NATURVETENSKAP; NATURAL SCIENCES;

   Sammanfattning : In tele-operated robotics applications, the primary information channel from the robot to its human operator is a video stream. For autonomous robotic systems however, a much larger selection of sensors is employed, although the most relevant information for the operation of the robot is still available in a single video stream. LÄS MER

4. 8. “Taking the next step” : whole-body biomechanical gait analysis, and user-perspectives on robotic-assisted gait training post-stroke

   Författare :Heidi Nedergård; Charlotte Häger; Marlene Sandlund; Susanne Palmcrantz; Erika Franzén; Umeå universitet; []
   Nyckelord :MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; stroke; robotic-assisted; electro-mechanical; gait training; gait analysis; user-perspectives; kinematics; physiotherapy; fysioterapi;

   Sammanfattning : Background: Stroke, and its subsequent motor function impairments may result in limited gait ability characterised by compensatory movement patterns that include deviations and asymmetries. How these movement patterns should be evaluated and quantified in order to be monitored and treated in the long term is not yet standardised. LÄS MER

5. 9. Modeling and Control of Stiff Robots for Flexible Manufacturing

   Författare :Isolde Dressler; Institutionen för reglerteknik; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

   Sammanfattning : To survive on a global market, small and medium size enterprises (SMEs) require affordable and competitive industrial automation for high quality flexible manufacturing. This thesis contributes to the development of robot concepts that fit the needs of SMEs. LÄS MER

7. 10. Dexterous Grasping : Representation and Optimization

   Författare :Kaiyu Hang; Nancy Pollard; KTH; []
   Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Dexterous Grasping; Hierarchical Fingertip Space; Grasp Planning; Grasp Adaptation; Computer Science; Datalogi;

   Sammanfattning : Many robot object interactions require that an object is firmly held, and that the grasp remains stable during the whole manipulation process. Based on grasp wrench space, this thesis address the problems of measuring the grasp sensitivity against friction changes, planning contacts and hand configurations on mesh and point cloud representations of arbitrary objects, planning adaptable grasps and finger gaiting for keeping a grasp stable under various external disturbances, as well as learning of grasping manifolds for more accurate reachability and inverse kinematics computation for multifingered grasping. LÄS MER