Search for dissertations about: "Manipulators"
Showing result 1 - 5 of 37 swedish dissertations containing the word Manipulators.
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1. On Modeling and Control of Flexible Manipulators
Abstract : Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. READ MORE
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2. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
Abstract : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. READ MORE
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3. Minimum-time sliding mode control of robot manipulators
Abstract : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. READ MORE
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4. Control, Models and Industrial Manipulators
Abstract : The two topics at the heart of this thesis are how to improve control of industrial manipulators and how to reason about the role of models in automatic control.On industrial manipulators, two case studies are presented. READ MORE
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5. Tactile Grasping for Domestic Service Robots : Simulations, Experiments and Hand Design
Abstract : This thesis presents methods and tools for robotic grasping. The application in mind is service robots for a home environment, although the work also has applications in other areas. Service robots must be capable of manipulation, i.e. READ MORE