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Keywords: end effectors
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Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. January 2012, 134(1): 011022.
Published Online: December 6, 2011
...Jingli Du; Hong Bao; Chuanzhen Cui; Xuechao Duan This paper addresses modeling and control of a cable-supporting manipulator serving as the feed supporting structure of a large radio telescope. The manipulator consists of six long cables so that their curves must be considered. The end-effector...
Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2011, 133(5): 051001.
Published Online: July 19, 2011
...Ramin Masoudi; Mojtaba Mahzoon A free-floating space robot with four linkages, two flexible arms and a rigid end-effector that are mounted on a rigid spacecraft; is studied in this paper. The governing equations are derived using Kane’s method. The powerful tools of Kane’s approach in incorporating...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2006, 128(4): 753–764.
Published Online: December 5, 2005
... neural-fuzzy controller (ANFC) are presented: The former is used to generate desired self-motions in a real-time manner, and the latter is used to prevent the robot from tipping over and to control the end-effector to follow a desired spacial trajectory at the same time. The proposed algorithm does...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2006, 128(1): 112–121.
Published Online: November 22, 2005
... the design synthesis of planar variants of the two candidate designs surmounting a representative obstacle profile while supporting a set of end-effector loads and highlight the key benefits in the presented results. 10 03 2005 22 11 2005 13 11 2004 19 11 2004 legged locomotion...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2006, 128(2): 307–318.
Published Online: May 10, 2005
... contact between mating objects occurs at multiple surface areas in a time-variant fashion. At the same time, the procedure requires only measurements of end-effector forces/moments and the kinematics information for the end-effector and the environment. Similarly to other methods, the solution...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. December 2005, 127(4): 537–549.
Published Online: December 21, 2004
... systems by providing accurate, repeatable control of a small end effector. A 10 × model of a two link surgical manipulator is developed, using antagonistic shape memory alloy wires as actuators, to simulate motions of a surgical end-effector. Artificial neural networks are used in conjunction with real...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2004, 126(2): 276–283.
Published Online: August 5, 2004
... on end effector with the use of data provided by F/T sensors. These external forces and moments are not directly measured by F/T sensor since the quantities measured by F/T sensor are corrupted by the dynamics of the end effector and manipulator (a F/T sensor is usually mounted between wrist and end...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 154–161.
Published Online: April 12, 2004
...H. Kazerooni This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks and bags. These end-effectors can grab and hold filled sacks from any point on the sack...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 115–123.
Published Online: April 12, 2004
...M. Benosman; G. Le Vey; L. Lanari; A. De Luca In this work is considered the problem of rest-to-rest motion in a desired pre-fixed time for planar flexible manipulators. We introduce a simple idea permitting the minimization of end-effector residual vibration when reaching a desired angular...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 131–138.
Published Online: April 12, 2004
... limit-cycle-free operation and zero steady-state position error. The analysis methods that are introduced are demonstrated in applications to the control of the position of the end-effector of an industrial robot. Contributed by the Dynamic Systems, Measurement, and Control Division...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 139–143.
Published Online: April 12, 2004
... for designing piecewise-linear-gain pulse width control laws is introduced. The performance measure and piecewise-linear-gain control law design method are demonstrated in applications to the control of the position of the end-effector of an industrial robot. Contributed by the Dynamic Systems. Measurement...