Search for dissertations about: "robot manipulator"

Showing result 1 - 5 of 26 swedish dissertations containing the words robot manipulator.

  2. 1. Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction

    Author : Muhammad Rehan Ahmed; Ivan Kalaykov; Kystof Kozlowksi; Örebro universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Physical human robot interaction; collision safety; variable stiffness actuators; compliance control; TECHNOLOGY; TEKNIKVETENSKAP; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Abstract : Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition. READ MORE

  4. 2. Design of Optimal Control Processes for Closed-Loop Chain SCARA-Like Robots

    Author : Mathias R Lidberg; Chalmers tekniska högskola; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; unpowered actuator.; SCARA-robot; closed-loop chain; manipulator;

    Abstract : The design of optimal control processes for closed-loop chain SCARA-like robots is the subject of this thesis. In comparison with the well-known SCARA robot, the proposed new structure is characterized by the incorporation of an additional powered actuator, several unpoweredactuators and an additional link that gives a closed-loop chain robot. READ MORE

  5. 3. Minimum-time sliding mode control of robot manipulators

    Author : Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    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

  6. 4. Modeling and Control of Flexible Manipulators

    Author : Stig Moberg; Svante Gunnarsson; Bruno Siciliano; Linköpings universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Modeling; identification; control; robot manipulator; DAE; flexible multibody dynamics; inverse dynamics; benchmark; Automatic control; Reglerteknik;

    Abstract : Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and product quality. Other reasons for using industrial robots are cost saving, and elimination of hazardous and unpleasant work. READ MORE

  7. 5. Online Learning for Robot Vision

    Author : Kristoffer Öfjäll; Michael Felsberg; Carl Henrik Ek; Linköpings universitet; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES;

    Abstract : In tele-operated robotics applications, the primary information channel from the robot to its human operator is a video stream. For autonomous robotic systems however, a much larger selection of sensors is employed, although the most relevant information for the operation of the robot is still available in a single video stream. READ MORE