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 111 for “"robotic arm"”.
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Modelling and control of articulated robotic arm
… the modelling and control of articulated robot arm. The robot arm is modelled using a CAD model that was design in SolidWorks. The robot arm movement is then simulated using the CAD model in Simulink before implementing in the real model. The robot arm is controlled by Arduino Uno that interact …
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7-DOF Robotic Arm XY-Plane Translational Stability
<p>Robotic arms are traditionally mounted to rigid structures as they perform tasks. As a result, the arm’s movement would not affect the position of its mount and its operational space that it is performing a task within would remain constant. If a robotic arm were to function in orbit, the motion …
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Three-dimensional computerized model of an elastic robotic arm
… computer simulation software in the area of robotics is becoming increasingly important. The present work involved the creation of a computer simulation software package for an elastic robotic arm. The computer simulation was unique in four major areas. Using a specialized Silicon Graphics …
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Characterizing reaction bandwidths in a position-controlled robotic arm
Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore …
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Adaptive control of a DDMR with a Robotic Arm
Robotic arms are essential in a variety of industrial processes. However, the dexterous workspace of a robotic arm is limited. This limitation can be overcome by making the robotic arm mobile. Such robots, which comprise a robotic manipulator installed on a wheeled mobile platform, are called …
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Deep reinforcement learning control of a 2D soft robotic arm
… development of a control policy for a 2D soft robotic arm. The simulation is based on the SOFA framework, which is a real-time multi-physics simulation package capable of creating models and computing forces for deformable materials. The 2D soft robotic arm is composed of two modules where each …
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Development of miniature robotic arm manipulators to enable smallsat clusters
This Thesis was approved for publication on 2017-04-28 at 13:56.
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Development of a robotic arm to teach autistic children social movements
By controlling a robotic arm, autistic children can learn the movements associated with social interactions. The goals of my invention are that autistic children would safely interact with the robotic arm and mimic the robotic arm to replicate movements associated with social interactions. The …
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A simple, versatile robotic arm for classroom and student laboratory use
Robotic arms are indispensable tools in both industry and education. The robotic arm currently used in the MIT class 2.12, Introduction to Robotics, is in need of revision. The arm is heavy, imprecise, bulky, and difficult to customize. The new design presented in this thesis resolves these issues …
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Design and development of a novel lightweight long-reach composite robotic arm
Metallic robotic arms, or manipulators, currently dominate automated industrial operations, but due to their intrinsic weight, have limited usefulness for large-scale applications in terms of precision, speed, and repeatability. This thesis focuses on exploring the feasibility of using polymeric …
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Decoupling and adaptive control and stabilization of two-link elastic robotic arm
… control and stabilization of a two link flexible robotic arm is considered. The first scheme is based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. The inverse controller includes a servocompensator for robustness. A …
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Structural analysis and design of a flexible three-link hydraulically-actuated robotic arm
… of a flexible three-link hydraulically activated robotic mechanism is presented. Static and quasi dynamic, three-dimensional analysis of the robotic mechanism is shown. Force and deflection equations are derived for the robotic mechanism and the finite element analysis is used to model its dynamic …
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Autonomous Dynamic Grasping with a Robotic Arm: Real-Time Motion Prediction and Adaptive Control
… challenging and actively researched areas in robotic manipulation. Unlike static grasping, this task requires the integration of perception, prediction, and control in real-time. Typical approaches involve tracking the target’s position in real-time using vision-based systems, estimating its …
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Design of a Robotic Arm Manipulator Camera Unit for Mini Underwater Remotely Operated Vehicles
… large ROVs have cameras attached to their robotic arms for closer inspection of objects, mini ROVs do not because no camera tool has been specifically designed to support the low-cost, lightweight design of a mini ROV. This thesis discusses the design considerations, component selection, …
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Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2024-08-01
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Embeddable micro pinch valve for localized pressure control on modular pneumatic soft robotic arm
… the wrist in series, we built up a modular soft robotic arm. These prototypes aim to demonstrate that, with EMPVs, all the actuators on a pneumatic soft robot can be powered by a set of arterial pressure supplies, thus more actuators can be built into a soft robot without adding cumbersome tubes, …
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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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Reactive Motions In A Fully Autonomous CRS Catalyst 5 Robotic Arm Based On RGBD Data
… system and intercept a moving object with a robotic arm. It will be shown that velocity estimation in a single image frame improves the system's performance. The majority of previous studies in this area require at least two image frames to measure the target's velocity. In addition, they …
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Design and control strategy of a flexible, hyper-redundant robotic arm using electroactive dielectric polymers
Hyper-redundant, flexible robotic arms inspired by muscular hydrostats perform well in tightly-constrained spaces and are capable of complex movements. These types of manipulators possess a wide range of motion while also achieving complex geometrical configurations. Although, flexible structures …
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