Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 217 for “"Manipulators"”.
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FORCE CONTROL OF ROBOT MANIPULATORS
… the key to the development of intelligent robot manipulators. In recent years, the concept of force feedback is generally accepted to be essential for tasks where the robot is in contact with the workpiece. A properly applied force can reduce the positioning accuracy necessary to perform a given …
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Soft, Compliant Tactile Robotic Manipulators
… of these camera-based sensors into compliant manipulators is difficult due to the rigidity of the sensor backing. This thesis explores the design of multiple different compliant high-resolution tactile manipulators, along with some examples of their real-world uses. The first such design …
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Vibration control of flexible robot manipulators
… a vibration control technique for flexible robot manipulators. A two link flexible robotic arm is considered and the dynamic model of the system is derived using the finite element method.
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Modular tendon routing for continuum manipulators
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2027-08-01
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Dynamics and control of magnetic manipulators
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002.
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Workspace Generation for Wire-Actuated Parallel Manipulators
… workspace formulation of wire-actuated parallel manipulators. Four methods of workspace generation are studied. The null space method, based on the calculation of wire tensions, is used to formulate the workspaces of example manipulators. The results of this method are used to verify the results …
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Virtual measurement of backlash in industrial manipulators
L'abstract è presente nell'allegato / the abstract is in the attachment
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Adaptation and Learning for Manipulators and Machining
… performed using different kinds of industrial manipulators, with a focus on the application of machining. Industrial robots offer a flexible and cost-efficient alternative to machine tools for machining, but cannot achieve as high accuracy out of the box. This is mainly caused by non-ideal …
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Control and design of flexible-link manipulators
… motion control of structurally flexible robotic manipulators has drawn the attention of robotics researches in the past few years. These robots find applications in space, underwater, and high speed energy efficient manipulation. This dissertation aims to address two important issues regarding …
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Decentralized and hierarchical control of robot manipulators
… and hierarchical control of a class of robot manipulators, where the robot manipulator is treated as a large scale uncertain system. The work is divided into three parts. The first part is concerned with the development of an integrated mathematical model of the robot manipulator. The model of …
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The motion control manipulators on mobile vehicles
Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1992.
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Motion design, control and implementation in robot manipulators
The dynamic performance of robots, specifically the tracking accuracy and motion duration, is influenced by both the nominal motion profile and the feedback control method employed. Three schemes are developed and experimentally tested to tackle the improvement of dynamic performance, in the …
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Kinematic and dynamic calibration of hydraulically actuated manipulators
… make use of heavy-duty hydraulic machinery with manipulators usually controlled manually by expert human operators. The hand controls that operate most articulated machines today do not take advantage of recent developments in robotics and control technology. There are thousands of industrial …
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Dynamic analysis of anthropomorphic manipulators in computer animation
The thesis examines the motion control and motion coordination of articulated bodies, in particular human models, through the use of dynamic analysis. The work concentrates particularly on the use of dynamic analysis as a tool for creating an animated walking sequence. The aim is to relieve the …
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Bond graph model based control of robotic manipulators
The performance of robotic manipulators is critical to their widespread use in industry. As manipulators become faster, their potential productivity can rise thus improving the return on the investment required to purchase them. Improving accuracy, on the other hand, increases the range of tasks …
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Neural network-based control of flexible-link manipulators
… problem of modeling and control of flexible-link manipulators has received much attention in the past several years. There are a number of potential advantages arising from the use of light-weight flexible-link manipulators, such as faster operation, lower energy consumption, and higher …
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