Search for dissertations about: "robot manipulators"

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

  2. 1. 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

  4. 2. On Modeling and Control of Flexible Manipulators

    Author : Stig Moberg; Svante Gunnarsson; Anders Robertsson; Linköpings universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; System identification; multivariable systems; differential-algebraic equations; robots; manipulators; flexible structures; robustness; position control; nonlinear systems; closed-loop identification; frequency-response methods; industrial robots; robotics; control; feedforward; flexible arms; Automatic control; Reglerteknik;

    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

  5. 3. Programming by demonstration of robot manipulators

    Author : Alexander Skoglund; Rainer Palm; Honghai Liu; Örebro universitet; []
    Keywords : NATURVETENSKAP; NATURAL SCIENCES; programming-by-demonstration; imitation learning; hand-state; next-state-planner; fuzzy time-modeling approach; Computer science; Datavetenskap; Computer and Systems Science; Data- och systemvetenskap; Människa-dator interaktion; Human-Computer Interaction;

    Abstract : If a non-expert wants to program a robot manipulator he needs a natural interface that does not require rigorous robot programming skills. Programming-by-demonstration (PbD) is an approach which enables the user to program a robot by simply showing the robot how to perform a desired task. 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. Tactile Grasping for Domestic Service Robots : Simulations, Experiments and Hand Design

    Author : Johan Tegin; Jan Wikander; Rüdinger Dillman; KTH; []
    Keywords : Manipulators; Simulation; Robot tactile systems; Modeling; Grasping; Tactile sensors; Mechanical engineering; Maskinteknik;

    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