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 67 for “"Robotic manipulator"”.
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Development of an Intelligent Robotic Manipulator
… leads to the use of robots and more specifically manipulators in unmanned spaces. Rapid and accurate performance of robotic arm movement and positioning, coupled with a reliable manipulator gripping mechanism for variable orientation and a range of deformable and/or geometric and coloured …
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An Inflatable Robotic Manipulator for Space Applications
L'abstract è presente nell'allegato / the abstract is in the attachment
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A wireless robotic manipulator for semiconductor manufacturing equipment
… and the secondary coil would be attached to the robotic manipulator. The primary coil would be charged by a high frequency AC supply, and the property of electromagnetic induction would cause a similar voltage to be produced in the secondary coil. This voltage would then be supplied to the …
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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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Task-Based Mass Optimization of Reconfigurable Robotic Manipulator Systems
… mass optimization of modular, reconfigurable manipulators. Link and joint modules are selected from a library of potential parts and assembled into serial manipulator configurations. A genetic algorithm is used to search over the potential set of combinations to find mass-minimized solutions. …
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Fuzzy control for an under-actuated robotic manipulator : Pendubot
… Pendubot have successfully been conducted in the Robotics and Mechatronics Laboratory.
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Sensory Feedback Implementation for a Teleoperated, Master-Slave Robotic Manipulator
… throughout manipulating a five degree of freedom robotic actuator in the Mars University Rover Challenge (Mars URC), as well as to replace another five degree of freedom manipulator from the 2009 Mars URC. Telepresence, the notion of feeling present in the surroundings of a remote object, is aided …
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Control of flexible joint robotic manipulator using tuning functions design
… is to design the controller for a single arm manipulator having a flexible joint for the tracking problem in two different cases. A controller is designed for a deterministic case wherein the plant parameters are assumed to be known while another is designed for an adaptive case where all the …
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Inverse and variable structure trajectory control of a flexible robotic manipulator
… trajectory and stabilize a two-link flexible robotic arm. They are (i) The Inverse Trajectory Control scheme and (ii) The Variable Structure System (VSS) scheme; The Inverse Trajectory Control scheme develops a control law based on the inversion of an input-output map. The stable maneuver of …
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Modified System Design and Implementation of an Intelligent Assistive Robotic Manipulator
This thesis presents three improvements to the current UCF MANUS systems. The first improvement modifies the existing fine motion controller into PI controller that has been optimized to prevent the object from leaving the view of the cameras used for visual servoing. This is achieved by adding a …
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Design of a robotic manipulator for automatic application of milking cups
… and interfaced with a 6-axis robot arm to form a robotic milking cup application mechanism The end-effector profile is sufficiently compact to allow access between the rear legs of the cow while enabhg full access to all four teats for application of milking cups. A control system was designed and …
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Design of a robotic manipulator using variable geometry trusses as joints
Parallel robotic manipulators are generally believed to be stiffer under load and more precise than conventional serial manipulators. This is because of their closed loop construction which allows forces to be shared through multiple paths to the ground. Unfortunately, most proposed parallel …
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Development of a reusable top-level control architecture for a robotic manipulator
The capabilities of a robotic system are strongly constrained by the capabilities of its control software. The development of this software represents a substantial fraction of the development effort of the overall system, due in part to the difficulty of reusing software written for previous …
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Hardware Design of a Wearable System for Gesture-Based Teleoperation of a Robotic Manipulator
To overcome some of the difficulties of robotic teleoperation using hand controllers, a new approach is necessary, namely gesture-based control. A review of sensors currently in use for human joint angle measurement is presented. Based on this review, a method was chosen that uses a variable-length …
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Automatic, Careful Online Packing of Groceries Using a Soft Robotic Manipulator and Multimodal Sensing
This thesis describes the use of soft robotic manipulators with multimodal sensing for estimating the physical properties of unknown objects to enable sorting and packing. Although bin packing has been a key benchmark task for robotic manipulation, the community has mainly focused on the placement …
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Hybrid-Adaptive Switched Control for Robotic Manipulator Interacting with Arbitrary Surface Shapes Under Multi-Sensory Guidance
… proposes an immediate solution to make rigid manipulators compliant and able to efficiently handle object interactions, with only an add-on module (a custom designed instrumented compliant wrist) and an original control framework which can easily be ported to different manipulators. The …
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An application of Gaussian radial based function neural networks for the control of a nonlinear multi link robotic manipulator
… to the control of a nonlinear multi-linked robotic manipulator for the general case of N links. Simulations of a two link system are performed and demonstrate the derived principles.
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Experimental validation of an L1 controller on a single robotic manipulator on a moving platform and a robotic cooperative network
… and in-field experimental results for a single robotic manipulator on a moving platform with unmodeled dynamics that aim to validate theoretical predictions for the dependence on control parameters of an L1 adaptive control strategy. The experiments verify expected bounds on the tracking error …
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The dynamic response of a flexible three-link robot using strain gages, Lagrange polynomials, Fourier series, and the finite element analysis
… dimensional space, of a flexible three-link robotic manipulator. The Links are designed to deform elastically under static and dynamic loads. Lagrange polynomials are derived to determine the defected shape of the robotic links. All coefficients of the Lagrange polynomials are functions of …
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Three-dimensional modeling and simulation of manufacturing processes for transmuter fuel fabrication
… will certainly utilize automation and robotics. A simplified 3-D model of a fuel handling operation was produced. Forward and inverse kinematic routines were implemented for a commercially available robotic manipulator, as well as path planning routines. Multiple software packages were …
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