Robot Manipulators

Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world

Benelux meeting on systems and control, 23rd, March 17-19, 2004, Helvoirt, The Netherlands

Book of abstract

Kinematics and Robot Design IV, KaRD2021

This volume collects the papers published on the special issue “Kinematics and Robot Design IV, KaRD2021” (https://www.mdpi.com/journal/robotics/special_issues/KaRD2021), which is the forth edition of the KaRD special-issue series, hosted by the open-access journal “MDPI Robotics”. KaRD series is an open environment where researchers can present their works and discuss all the topics focused on the many aspects that involve kinematics in the design of robotic/automatic systems. Kinematics is so intimately related to the design of robotic/automatic systems that the admitted topics of the KaRD series practically cover all the subjects normally present in well-established international conferences on “mechanisms and robotics”. KaRD2021, after the peer-review process, accepted 12 papers. The accepted papers cover some theoretical and many design/applicative aspects

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Sliding-Mode control for high-precision motion control systems

In many of today's mechanical systems, high precision motion has become a necessity. As performance requirements become more stringent, classical industrial controllers such as PID can no longer provide satisfactory results. Although many control approaches have been proposed in the literature, control problems related to plant parameter uncertainties, disturbances and high-order dynamics remain as big challenges for control engineers. Theory of Sliding Mode Control provides a systematic approach to controller design while allowing stability in the presence of parametric uncertainties and external disturbances. In this thesis a brief study of the concepts behind Sliding Mode Control will be shown. Description of Sliding Mode Control in discrete-time systems and the continuous Sliding Mode Control will be shown. The description will be supported with the design and robustness analysis of Sliding Mode Control for discrete-time systems. In this thesis a simplified methodology based on discrete-time Sliding Mode Control will be presented. The main issues that this thesis aims to solve are friction and internal nonlinearities. The thesis can be outlined as follows: -Implementation of discrete-time Sliding Mode Control to systems with nonlinearities and friction. Systems include; piezoelectric actuators that are known to suffer from nonlinear hysteresis behavior and ball-screw drives that suffer from high friction. Finally, the controller will be implemented on a 6-dof Stewart platform which is a system of higher complexity. -It will also be shown that performance can be enhanced with the aid of disturbance compensation based on a nominal plant disturbance observer