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 69 for “"Robotic Manipulators"”.
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Soft, Compliant Tactile Robotic Manipulators
When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution …
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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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Study of robotic manipulators subjected to base disturbances
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1987.
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Mechanical impedance control of robotic manipulators in Cartesian coordinates
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1983.
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An Integrated Design Pipeline for Tactile Sensing Robotic Manipulators
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they discover better topologies for the robotic manipulator. Tactile …
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Real-time compensation of static deflections in robotic manipulators
… and compensation of static deflections in robotic manipulator arms. A general manipulator deflection model is developed based on static beam theory and robot kinematics. An optimization technique is proposed to determine the stiffness of the manipulator components using end-effector …
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A Geometric Approach for Generating Feasible Configurations of Robotic Manipulators
Most robotic manipulators, and especially those designed with autonomous operation in mind, consist of a series of joints that rotate about a single axis, also known as revolute joints. These mechanisms give robotic manipulators the degrees of freedom and versatility similar to that of the human …
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Evolutionary design of digital trajectory-tracking controllers for robotic manipulators
… of digital trajectory-tracking controllers for robotic manipulators is a challenging task, since such manipulators are multivariable non-linear plants. In addition, in many applications of robotic manipulators, it is required that very high-accuracy trajectory-tracking performance be achievable …
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Design architecture for dynamic low inertia multi DOF robotic manipulators
This thesis is intended as a background for robotic designers interested in creating low inertia, high bandwidth, multi DOF robotic arms and hands capable of proprioceptive force feedback from the world. This thesis briefly outlines the physics that govern the dynamics of robotic manipulators. It …
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Terminal sliding mode control for rigid robotic manipulators with uncertain dynamics
… mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The …
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Some issues in the sliding mode control of rigid robotic manipulators
… sliding mode control for nonlinear rigid robotic manipulators. A number of robustness and convergence results are presented for sliding mode control of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The highlights of …
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Time-optimal planning of point to point moves for robotic manipulators
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1985.
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Safe and Efficient Motion Planning in Robotic Manipulation through Formal Methods
… objects and high-dimensional nature of manipulators. This thesis addresses these issues by developing (1) a mixed-integer linear programming (MILP)-based approach to plan safe paths for rigid-body objects; and (2) a learned control barrier function (CBF) tailored for manipulators with …
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Autonomous Visual Servo Robotic Capture of Non-cooperative Target
… capture of a non-cooperative target by robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final capture stage by robotic manipulators after the orbital rendezvous and proximity maneuver being completed. Two challenges have been identified …
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Optimal self assembly of modular manipulators with active and passive modules
… of active modular robots and passive bars. The robotic module is the Shady3D robot and the passive component is a rigid bar with embedded IR LEDs. We propose algorithms that demonstrate the cooperative aggregation of modular robotic manipulators with greater capability and workspace out of these …
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Design of a decentralized model reference adaptive controller for a mobile robot
Control systems for robotic manipulators have been investigated for several years. The difficulty in designing a controller for a robotic manipulator is due to the highly nonlinear, time-varying dynamics. Closed-loop constant gain controllers are effective when the robot is expected to perform a …
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Planning, Sensing, and Control for Contact-rich Robotic Manipulation with Quasi-static Contact Models
… necessary. In contrast, the vast majority of robotic manipulators are artificially divided into a small end effector that makes all the interactions, and a hefty arm that needs to always remain collision-free. One big reason behind this unsatisfying limitation on robotic manipulators is the …
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Control of flexible-link manipulators using nonlinear H(infinity) techniques
… advanced aircraft control, and the control of robotic manipulators. Furthermore, most systems are seldom completely known and therefore, their mathematical models should include some uncertain parts. The control of an uncertain system is required to be robust with respect to modeling …
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Neural Network Based Sliding Mode Control for Robotic Manipulator
Robotic manipulators are used in many applications. However, robotic arms are complex systems due to external disturbances, perturbations, and their coupled non-linear dynamics. This thesis aims to propose a robust control strategy for autonomous robotic manipulation. First, the trajectory tracking …
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