Sökning: "External Torques"

Visar resultat 1 - 5 av 7 uppsatser innehållade orden External Torques.

  1. 1. Design, Modeling, and Testing of a Force Feedback Haptic Device for Simulated Robot Interaction

    Master-uppsats, Linköpings universitet/Institutionen för systemteknik

    Författare :Patrik Lindström; [2023]
    Nyckelord :Force Feedback; Impedance Control; PD-gain; Dynamic Behavior; Closed-chain; Master-Slave; Parallel Manipulator; Kinematics Redundancy; Mass-Spring-Damper; Position Control; Current Control; Modeling; Design; Joints; Delta robot; Differential Equations; External Torques; Kinematics; Forward Kinematics; Inverse Kinematics; Dynamic Matrices; Jacobian; URDF; Haptics; Haptic Device; Solidworks; CAD; Maxon Motors; EtherCAT; Beckhoff;

    Sammanfattning : Haptic feedback is a growing phenomenon that incorporates the sense of touch through tactile sensations such as vibrations, electrical signals, air pressure, and sound waves or through force feedback, which employs torques and/or forces to replicate the pressure and weight of a simulated object. Utilizing haptic technology establishes a communication bridge between the user and the technical component, enhancing the user's understanding of the technical component's surroundings. LÄS MER

  3. 2. Accurate Simulation of a Collaborative Robot Arm with Cartesian Impedance Control

    Uppsats för yrkesexamina på avancerad nivå, Lunds universitet/Institutionen för reglerteknik

    Författare :Joel Holmesson; [2021]
    Nyckelord :Technology and Engineering;

    Sammanfattning : Simulation of systems is used in several fields of science as a tool for safe and resource-efficient testing, as well as a tool for prediction. In this thesis, the goal is to produce an accurate simulation of a collaborative robot arm, together with a controller solution. The robot is supposed to learn and perform contact-rich tasks. LÄS MER

  4. 3. Modelling of air-gap harmonic torques and its impact on vibrations in electric drivetrains : Modelling interaction between electromagnetics and vibration of an electrical machine

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Dhiyanesh Radhakrishnan; [2021]
    Nyckelord :Electro-Magnetics; Eigenfrequency; Electrical Machine; Multi-Body Dynamics; Displacement; machine vibrations; Elektromagnetik; Eigen frekvens; Elektrisk maskin; Flerkropps dynamik; Förskjutning; maskin vibrationer;

    Sammanfattning : In this report, the effect of external torque injection of a particular phase and frequency was analyzed using an induction motor assembly consisting of a prototype of an induction motor and a flexible mounting arrangement. The eigenfrequencies of the several components that make up the construction of the induction machine assembly are found out both by analytical and FEM methods. LÄS MER

  5. 4. Sensorless collision detection with safe reaction for a robot manipulator.

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :MARTIN GYLLING; [2019]
    Nyckelord :;

    Sammanfattning : This thesis is about collision detection and reaction for robot manipulators without joint torque sensors. The method for detecting collisions used by [1], [2] is based on an algorithm that estimates the residual torque i.e. LÄS MER

  7. 5. Integrated System for Machining Process Visualization and Analysis in Blade Applications

    Master-uppsats, Lunds universitet/Industriell Produktion

    Författare :Pontus Westlin; [2016]
    Nyckelord :Machining; Visualization; Sandvik Coromant; Technology and Engineering;

    Sammanfattning : The manufacturing industry is heading towards a more digitized environment. Sandvik Coromant is therefore developing intelligent tools, as well as software tools for machining applications. The aim for this thesis is to develop the understanding of a specific machining process. LÄS MER