نتایج جستجو برای: planar manipulator

تعداد نتایج: 73372  

2007
Iman Ebrahimi Juan A. Carretero Roger Boudreau

In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of t...

2013
Guanglei Wu Shaoping Bai Jørgen A. Kepler Stéphane Caro

This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are establ...

1997
Dragomir N. Nenchev Kazuya Yoshida Prasart Vichitkulsawat Atsushi Konno Masaru Uchiyama

T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...

Journal: :Journal of Institute of Control, Robotics and Systems 2010

1999
Dan Reznik Emil Moshkovich John Canny

Distributed manipulation devices make use of a large number of actuators, organized in array fashion, to manipulate a small number of parts. Inspired by minimalism we look at a complementary question: can a device with few degrees of actuation freedom be used to exibly manipulate a large number of parts? In previous publications we have shown that a single horizontally-vibrating plate is just s...

2015
Roshdy Foaad Abo-Shanab

In this paper, the impact of changing the location of the tool point, on the moving platform, on the dynamics of a planar parallel manipulator is investigated. Lagrange-d’Alembert formulation is used to develop the dynamic model of the present manipulator. To evaluate the dynamic performance of the parallel manipulator, the input efforts and energy consumptions are calculated for the manipulato...

2013
Pooja Khatri

This paper presents the design and implementation of PID controller for the general form of two-link planar robotic manipulator. Also for comparative analysis, proportional-derivative (PD), is implemented on the same system under same conditions. The comparative analysis of the results demonstrates that the PID controller is best among all the conventional controllers and the simulation results...

Journal: :CoRR 2015
Sureyya Sahin

We study determining the posture of an in-parallel planar manipulator, which has three connectors composed of revolute, prismatic and revolute joints, from specified active joint variables. We construct an ideal in the field of complex numbers, and we introduce self inversive polynomials. We provide results for an in-parallel planar manipulator, which has a base and moving platform in right tri...

Journal: :CoRR 2005
Atef A. Ata Thi Rein Myo

Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Se...

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