Boundary Control of a Flexible Robotic Manipulator With Output Constraints
Sign Up to like & getrecommendations! 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
Parametric Optimization of the Transport Operations of a Two-Link Manipulator
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Sign Up to like & getrecommendations! 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
Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-017-0689-7
Abstract: This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the attitude/position motion of the… read more here.
Keywords: control; spacecraft; stabilization spacecraft; manipulator ... See more keywords
Design and Kinematic Modeling of a Notch Continuum Manipulator for Laryngeal Surgery
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-1007-3
Abstract: A notch continuum manipulator with a large cavity is presented. The continuum manipulator which is designed for laryngeal surgery is composed of guidewire discs and a Nitinol skeleton. The deformation of the continuum manipulator is… read more here.
Keywords: space; continuum manipulator; laryngeal surgery; notch continuum ... See more keywords