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   Articles with "manipulator" as a keyword



Boundary Control of a Flexible Robotic Manipulator With Output Constraints

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recommendations! Published in 2017 at "Asian Journal of Control"

DOI: 10.1002/asjc.1342

Abstract: In this study, we consider a boundary control problem of a flexible manipulator with input disturbances and output constraints, achieving pre-set performance attributes on position tracking error and the deflection error at the end of… read more here.

Keywords: output constraints; control; manipulator; control flexible ... See more keywords

Prescribed‐Time Disturbance Observer‐Based Sliding Mode Control for Uncertain Manipulator Systems Under Dos Attack

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recommendations! Published in 2025 at "International Journal of Robust and Nonlinear Control"

DOI: 10.1002/rnc.70304

Abstract: The predefined‐time nonsingular fast terminal sliding mode (NFTSM) control problem is studied based on a prescribed‐time disturbance observer (PTDO) for a robotic manipulator system with Denial‐of‐Service (DoS) attack. Firstly, a new predefined‐time NFTSM control strategy… read more here.

Keywords: time; control; dos attack; time disturbance ... See more keywords

An improved inverse kinematics solution method for the hyper‐redundant manipulator with end‐link pose constraint

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recommendations! Published in 2024 at "Journal of Field Robotics"

DOI: 10.1002/rob.22362

Abstract: Hyper‐redundant manipulators have strong flexibility that benefits from their redundant limb structure. However, a large number of redundant degrees of freedom will also lead the solution of inverse kinematics much more difficult, which restricts their… read more here.

Keywords: manipulator; end link; inverse kinematics; kinematics ... See more keywords

Parametric Optimization of the Transport Operations of a Two-Link Manipulator

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recommendations! Published in 2019 at "Journal of Mathematical Sciences"

DOI: 10.1007/s10958-019-04227-8

Abstract: We study the problem of optimization of motion of a two-link manipulator, which performs transport operations under the action of controls (moments of forces in the hinges). The initial and the final position of the… read more here.

Keywords: parametric optimization; transport operations; manipulator; two link ... See more keywords

A regularized approach for frictional impact dynamics of flexible multi-link manipulator arms considering the dynamic stiffening effect

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recommendations! Published in 2018 at "Multibody System Dynamics"

DOI: 10.1007/s11044-017-9589-0

Abstract: The present study offers a regularized approach for multi-link flexible manipulator arms with frictional impacts. The complex risks of global dynamics simulation, which involve nonlinear frictional impact, stick–slip, and foreshortening deformation, as well as multi-scale… read more here.

Keywords: regularized approach; manipulator; multi link; manipulator arms ... See more keywords

Coexistence of single- and multi-scroll chaotic orbits in a single-link flexible joint robot manipulator with stable spiral and index-4 spiral repellor types of equilibria

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recommendations! Published in 2017 at "Nonlinear Dynamics"

DOI: 10.1007/s11071-017-3726-4

Abstract: This paper reports various chaotic phenomena that occur in a single-link flexible joint (SLFJ) robot manipulator. Four different cases along with subcases are considered here to show different types of chaotic behaviour in a flexible… read more here.

Keywords: system; joint; robot manipulator; manipulator ... See more keywords

Closed-form dynamic modeling and performance analysis of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions

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recommendations! Published in 2019 at "Nonlinear Dynamics"

DOI: 10.1007/s11071-019-04803-2

Abstract: This paper presents an systematic dynamic modeling and performance analysis method of an over-constrained 2PUR-PSR parallel manipulator with parasitic motions, where P, U, S, and R represent the prismatic joint, universal joint, spherical joint, and… read more here.

Keywords: manipulator; performance; dynamic modeling; 2pur psr ... See more keywords

Laparoscopic ultrasound manipulator with a spring-based elastic mechanism

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recommendations! Published in 2018 at "International Journal of Computer Assisted Radiology and Surgery"

DOI: 10.1007/s11548-018-1709-7

Abstract: PurposeImage guidance is a key technology that can improve the outcome of laparoscopic surgery. However, due to the large deformation caused by digestive organs, a computer-aided navigation system based on preoperative imaging data cannot indicate… read more here.

Keywords: laparoscopic ultrasound; motion; ultrasound manipulator; manipulator ... See more keywords

Studies on Stewart platform manipulator: A review

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recommendations! Published in 2017 at "Journal of Mechanical Science and Technology"

DOI: 10.1007/s12206-017-0846-1

Abstract: This paper presents a compilation of previous studies on the Stewart platform, which is a class of six degree of freedom parallel manipulators. The abstraction of a parallel manipulator is appropriated for the entire class… read more here.

Keywords: platform manipulator; stewart platform; manipulator; manipulator review ... See more keywords

Optimum design of the reconfiguration system for a 6-degree-of-freedom parallel manipulator via motion/force transmission analysis

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recommendations! Published in 2020 at "Journal of Mechanical Science and Technology"

DOI: 10.1007/s12206-020-0232-2

Abstract: This research introduces a 6-degree-of-freedom parallel manipulator with a reconfigurable fixed base; the manipulator performance has been evaluated to select the most suitable reconfiguration system. The optimal design of the parallel manipulator refers to the… read more here.

Keywords: manipulator; force; reconfiguration; reconfiguration system ... See more keywords

Avoidance of multiple moving obstacles during active debris removal using a redundant space manipulator

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recommendations! Published in 2017 at "International Journal of Control, Automation and Systems"

DOI: 10.1007/s12555-015-0455-7

Abstract: During the operation of space manipulators for debris removal, the obstacles moving in the workspace must be avoided. We propose a unified modelling framework for multiple moving obstacles and a collision-free trajectory planning method for… read more here.

Keywords: space; redundant space; multiple moving; manipulator ... See more keywords