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 21 for “"robot manipulator"”.
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Modeling and control of a robot manipulator
… the modelling and path planning components for a robot manipulator mounted on a mobile platform. This platform is for use in the mining safety inspections of the mine roof, i.e., the hanging wall. Currently this process is done by mine workers and it places them at risk of falling of unstable …
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Supervisory control of robot manipulator for gross motions
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1991.
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Multiple Uncertain Robot Manipulator Control for a Modular System
… Specifically, modular systems that consist of robot manipulators are subject to non-linear unknown terms as well as unknown effects. This thesis focuses on developing and designing a distributed model reference adaptive controller for a robotic modular system that is subject to non-linear …
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Verification and Validation of Robot Manipulator Adaptive Control with Actuator Deficiency
… work addresses the joint tracking problem of robotic manipulators with uncertain dynamical parameters and actuator deficiencies, in the form of an uncertain control effectiveness matrix, through adaptive control design, simulation, and experimentation. Specifically, two novel adaptive …
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Admittance control of the intelligent assist robot manipulator for people with duchenne muscular dystrophy
… of these devices, as well as currently available robotic manipulators, are considerably limited in the functionality that they provide, rendering them obtrusive and unaccommodating, resulting in lack of use by this population. This thesis presents the design of a novel upper limb assistive robotic …
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The development of the control for an urban search and rescue robot manipulator arm
The University of Cape Town (UCT) Robotics and Agents Research Laboratory (RARL) began research into developing a USAR robot in 2006. The final design of the fourth generation USAR robot developed by UCT [is] named RATEL... This document reports on the research and development of the control for …
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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 …
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Intelligent Visual Servo Control of an Air Hockey Playing Robot
The use of a planar robot manipulator for the air hockey problem allows for a task hierarchy under which end-effector trajectory tracking is the primary task and redundancy resolution is utilized to achieve secondary tasks. The set of secondary objective controllers consists of criteria optimizing …
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A neural network approach for generating derivative information from quantized position measurements
In the control of robot and other mechanized systems, there exists a need for the generation of first and higher order derivative information. Not much effort has been made to address this issue. Instead much of the work, especially in robot control, has relied on a priori knowledge of the system …
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Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot
… phase concerns the development of optimal space robot manipulator deployment manoeuvres which ensure zero-attitude displacement by the end of the trajectory. Three common pseudospectral optimal control tools are used to develop the trajectories, and the optimality of each solution is assessed …
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Modeling and controls for a laser glass cutting machine workcell robot
The SCARA (Selective Compliance Assembly Robot Arm)-Type Nimbl loader junior robot includes a four-degree of freedom robot manipulator arm. This thesis deals with three main areas of robot behavior: kinematics, dynamics and controls for the purpose of improving the performance of the Laser Glass …
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Artificial neural networks for the computation of the inverse kinematics of redundant manipulators
Robotic manipulators play a key role in the industry these days. These devices are used to manipulate many and diverse objects without human physical interference. Hence they are very useful in different industries and applications such as welding, space, surgery, and nuclear activities. If the …
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Sensor-based automated path guidance of a robot tool
The objective of the research is to develop a robot capability for a simultaneous measurement of the orientation (surface normal) and position of a 3-dimensional unknown object for a precise tool path guidance and control. The proposed system can guide the robot manipulator while maintaining …
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Dynamics and Control of Higher-order Nonholonomic Systems
… modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid containers, as well as an interesting class of systems that do not admit asymptotically stabilizing continuous static or dynamic state feedback. Specific assumptions are introduced to define this class, which includes …
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Analyzing Attitude Correction of a Spacecraft Due to the Motion of a Robotic Arm Payload
… polluting the space environment. Not only can robotic arms assist with active orbital debris removal to be more sustainable, they also support robotic on-orbit servicing (OOS). Additionally, using a robotic manipulator enables different servicing operations to take place, allowing for life …
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Learning Probabilistic Generative Models For Fast Sampling-Based Planning
… motion planners have been gaining interest for robotic manipulation in recent years. We present several new learning approaches using probabilistic generative models for fast sampling-based planning. First, we propose fast collision detection in high dimensional configuration spaces based on …
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The Use of Virtual Environments in Internet-Based Teleoperation
… environment for automatic control of the remote robot, and a system framework for supporting the integration of the above mechanisms with other components of Internet-based teleoperation systems and their distribution over the Internet within a client-server structure. To model a dynamic …
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Derivation and application of nonlinear analytical redundancy techniques with applications to robotics
Fault detection is important in many robotic applications. Failures of powerful robots, high velocity robots, or robots in hazardous environments are quite capable of causing significant and possibly irreparable havoc if they are not detected promptly and appropriate action taken. As robots are …
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Reactive trajectory adjustment for motion execution using Chekhov
Robots are becoming more and more prominent in the world of manufacturing for assembling products. Currently most of these robots, such as the ones used in automobile manufacturing have specific pre-programmed tasks and motions, and no sense of their surrounding environment. In many of today's …
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Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control
… in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to …
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