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Keywords: robot manipulator
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Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A048, August 14–17, 2022
Paper No: DETC2022-89769
... Abstract Dynamic modelling and motion control of a newly developed 5-DOF robot manipulator is presented here. Optimized PID gains are obtained using PSO (Particle Swarm Optimization) method. a PID and a PID-CTC (Computed Torque Control) controller with optimized gains are examined for reference...
Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A028, August 17–19, 2021
Paper No: DETC2021-71936
...Abstract Abstract In order to make robot manipulators work more compliantly when contacting with the environment, it is necessary to reduce the contact force caused by positioning errors. One effective way to solve this problem is impedance control, which makes the robot manipulator a second...
Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A049, August 17–19, 2021
Paper No: DETC2021-69006
...Abstract Abstract In this paper, an artificial neural network (ANN) based transfer learning approach of inverse displacement analysis of robot manipulators is studied. ANNs with different structures are applied utilizing data from different end effector paths of a manipulator for training...
Proceedings Papers

Proc. ASME. DETC94, 4th Flexible Assembly Conference, 29-33, September 11–14, 1994
Paper No: DETC1994-0367
... Kinematic Equation (IKE). We present an approach for solving the Forward Kinematic Equation (FKE) and the IKE by means of a Multi Layer Back-Propagation Neural Network (Rumelhart et al., 1986). The neural network approach is applied to a Two Degrees-of-Freedom (DOF) robot manipulator and the results...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A093, August 17–19, 2020
Paper No: DETC2020-22508
...NEURAL NETWORK BASED TRANSFER LEARNING OF MANIPULATOR INVERSE DISPLACEMENT ANALYSIS Houcheng Tang1, Leila Notash Queen s University, Kingston, ON, Canada ABSTRACT In this paper, a neural network based transfer learning approach of inverse displacement analysis of robot manipulators is studied...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 357-365, September 28–October 2, 2004
Paper No: DETC2004-57131
... 30 06 2008 A new control method, called adaptive nonlinear PD learning control (NPD-LC), is proposed for robot manipulator applications in this paper. The proposed control structure is a combination of a nonlinear PD control structure and a directly learning structure. Consequently...
Topics: Manipulators
Proceedings Papers

Proc. ASME. IDETC-CIE2003, Volume 1: 23rd Computers and Information in Engineering Conference, Parts A and B, 821-824, September 2–6, 2003
Paper No: DETC2003/CIE-48261
... interpreted language Ch, calligraphy handwrote by user in client machine will be formatted, sent, and calligraphed in a far located pneumatic robot manipulator through Internet. Web-based application servo-pneumatic control Java applet robot manipulator Proceedings of DETC’03 independence...
Topics: Manipulators
Proceedings Papers

Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 599-608, September 24–28, 2005
Paper No: DETC2005-84333
... 24 06 2008 In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain...
Proceedings Papers

Proc. ASME. IDETC-CIE2005, Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 1563-1572, September 24–28, 2005
Paper No: DETC2005-84819
... of dominant low-frequency vibration mode. Fractional order controller robot manipulator fractional integrator robust control Proceedings of IDECTC 05 2005 ASME International Design Engineering Technical Conferences and This loop uses a classical PD controller to give a Proceedings of IDETC/CIE...