نتایج جستجو برای: rigid flexible manipulators
تعداد نتایج: 156523 فیلتر نتایج به سال:
This paper describes the design and implementation of a static model used for position estimation of a flexible modular medical manipulator equipped with optic-fiber based sensors. Flexible manipulators are emerging technology in medical applications especially in minimally invasive surgery as it allows to perform the operation with tight space constraints without damaging other organs. Such op...
In the context of nonlinear model predictive control (NMPC) for robot manipulators, we address problem enabling mixed and transparent use algorithmic differentiation (AD) efficient analytical derivatives rigid-body dynamics (RBD) to decrease solution time subjacent optimal (OCP). Efficient functions RBD their are made available numerical optimization framework CasADi by overloading operators in...
Point-to-Point trajectory planning of flexible redundant robot manipulators using genetic algorithms
The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point mot...
The paper focuses on the problem of trajectory planning of flexible redundant robot manipulators (FRM) in joint space. Compared to irredundant flexible manipulators, FRMs present additional possibilities in trajectory planning due to their kinematics redundancy. A trajectory planning method to minimize vibration of FRMs is presented based on Genetic Algorithms (GAs). Kinematics redundancy is in...
Dynamics of multi-link manipulators with flexible links include complex high-order equations which make their control problem very challenging. This paper presents a new method for simultaneous motion and vibration control of a twolink flexible manipulator using H2/H∞ control. A multi-element finite element model of the manipulator is casted into the generalized plant model, and H2 and H∞ contr...
A common problem in aerodynamic and astrodynamic engineering is accurate modeling of systems that combine flexible and rigid bodies with a controller. Mechanical and control simulators typically represent only rigid bodies and require preliminary transformation of flexible body problems into a suitable approximation. Analytical methods and commercial off-the-shelf (COTS) flexible-body analysis ...
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
One of the main restrictions commercial cobots can be found in their limited payload to mass ratios. Flexible link manipulators seem offer interesting advantages over traditional rigid robotics, terms lower self-weight, energy consumption and safer operation. However, design loading specifications general literature on flexible differ from those expected a collaborative industrial setting. In t...
نمودار تعداد نتایج جستجو در هر سال
با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید