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Filtering by: Subject Manipulators (Mechanism) Remove constraint Subject: Manipulators (Mechanism) Decade 1980-1989 Remove constraint Decade: 1980-1989

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  • Dynamic simulation of robot manipulators

    Creator:
    Vora, Younus
    Abstract:
    A program has been written to investigate the dynamics of robot manipulators during task execution. The program simulates robot motion along a path specified by the user. A smooth trajectory is generated by interpolation in joint space. Forces and torques on actuators are calculated at intermediate points, using a recursive...
    Resource Type:
    Masters Thesis
    Full Text:
    calculated at intermediate points, using a recursive Lagrangian formulation of manipulator dynamics. Plots

  • Discrete-time explicit model reference adaptive control for robotic manipulators

    Creator:
    Yuh, Junku
    Abstract:
    In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve...
    Resource Type:
    Dissertation
    Full Text:
    MODEL REFERENCE ADAPTIVE CONTROL TO INDUSTRIAL ROBOTIC MANIPULATOR SYSTEMS 69 5.1 Dynamic model 69 5.2

  • Analytical and visual tools for robot kinematics

    Creator:
    Harris-Coppola, Marcia M.
    Abstract:
    Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest...
    Resource Type:
    Masters Thesis
    Full Text:
    Algorithm 59 5.2 Generating the Inverse Kinematic Algorithm 60 5.3 The Manipulator Jacobian 62 6

  • Optimization of polynomial trajectories for robotic manipulators

    Creator:
    Yildirim, Yuksel
    Abstract:
    In this thesis, a method is presented to construct minimum-time robot trajectories for predefined Cartesian end-effector path in a workspace containing obstacles. The method is preferably applied to a geometric collision-free path of a SCARA robot by using the theories of Bezier, B-spline, and parabolic blending curves. The motion of...
    Resource Type:
    Masters Thesis
    Full Text:
    a manipulator we will affix frames to the various parts of the mechanism and then describe the

  • Derivation and automatic generation of Kane's dynamical equations for mechanical manipulators

    Creator:
    Nie, Tinglin
    Abstract:
    To design and precisely control a manipulator requires developing an efficient dynamic model of the system. The present work demonstrates how this can be accomplished by employing Kane's dynamical equations. First, a detailed manual derivation of the equations of motion for a particular robot is presented in such way that...
    Resource Type:
    Dissertation
    Full Text:
    privacy Cilailes E. Smith To design and precisely control a manipulator requires developing an efficient

  • A model reference adaptive system for control of a flexible mechanical manipulator

    Creator:
    Lee, Byeung Kyun
    Abstract:
    For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct...
    Resource Type:
    Dissertation
    Full Text:
    flexible mechanical manipulator AN ABSTRACT OF THE THESIS OF Byeung Kyun Lee for the degree of Doctor of