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Proceedings Papers

Micro Control Valves by Making Use of Electro-Rheological Fluids (Control of One-Link Manipulator With the Micro ER Valve)

Yutaka Kondoh, Shinichi Yokota
Proc. ASME. IMECE97, Fluid Power Systems and Technology, 55-60, November 16–21, 1997
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1997-1281
https://doi.org/10.1115/IMECE1997-1281
View Paper titled, Micro Control Valves by Making Use of Electro-Rheological Fluids (Control of One-Link Manipulator With the Micro ER Valve)
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Topics: Electrorheological fluids, Manipulators, Valves, Fluids, Actuators, Electric fields, Muscle, Pressure, Rheology, Rubber
Proceedings Papers

Teaching the Reachable and Dexterous Workspace of Articulated Robotic Manipulators Using MATLAB Animation

Michael D. M. Kutzer, Erick Rodriguez-Seda
Proc. ASME. IMECE2023, Volume 8: Engineering Education, V008T09A041, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113471
https://doi.org/10.1115/IMECE2023-113471
View Paper titled, Teaching the Reachable and Dexterous Workspace of Articulated Robotic Manipulators Using MATLAB Animation
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Topics: Manipulators, Matlab, Teaching, Visualization, Algorithms, Degrees of freedom, Dimensions, End effectors, Engineering education, Robot kinematics
Proceedings Papers

The Tremendous Increase of Clearance–Induced Uncertainty Near the Singularity Positions of Planar Parallel Manipulators

Cody Leeheng Chan, Yu-Chieh Lai
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A031, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-111773
https://doi.org/10.1115/IMECE2023-111773
View Paper titled, The Tremendous Increase of Clearance–Induced Uncertainty Near the Singularity Positions of Planar Parallel Manipulators
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Topics: Clearances (Engineering), Errors, Manipulators, Uncertainty
Proceedings Papers

Model-Based Visual Control for Robotic Manipulators Using Udwadia Kalaba Formulation

Edward Morgan, William Ard, Corina Barbalata
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A061, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112976
https://doi.org/10.1115/IMECE2023-112976
View Paper titled, Model-Based Visual Control for Robotic Manipulators Using Udwadia Kalaba Formulation
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Topics: Kaolin, Manipulators, Robotics
Proceedings Papers

Predictive Control of the KINOVA Gen3 Robotic Manipulator Using a Nonlinear Model

Amanuel Abrdo Tereda, Sun Yi
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A021, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112777
https://doi.org/10.1115/IMECE2023-112777
View Paper titled, Predictive Control of the KINOVA Gen3 Robotic Manipulator Using a Nonlinear Model
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Topics: Control equipment, Manipulators, Optimization, Path planning, Predictive control, Robotics, Design, Manufacturing, Matlab, Robots
Proceedings Papers

Computational Verification of Analytical Modal Analysis Solution of Non-Symmetric 3RPR Parallel Kinematics Manipulator

Abdur Rosyid, Bashar El-Khasawneh, Anas Alazzam
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A042, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113212
https://doi.org/10.1115/IMECE2023-113212
View Paper titled, Computational Verification of Analytical Modal Analysis Solution of Non-Symmetric 3RPR Parallel Kinematics Manipulator
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Topics: Kinematics, Manipulators, Modal analysis
Proceedings Papers

Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Stiff Surfaces

Bin Yao, Masayoshi Tomizuka
Proc. ASME. IMECE96, Nonlinear Dynamics and Controls, 143-150, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0450
https://doi.org/10.1115/IMECE1996-0450
View Paper titled, Adaptive Robust Motion and Force Tracking Control of Robot Manipulators in Contact With Stiff Surfaces
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Topics: Manipulators, Tracking control, Control equipment, Friction, Robots, Equilibrium (Physics), Feedback, Stiffness, Transients (Dynamics), Uncertainty
Proceedings Papers

Tracking Controllers for Flexibly Jointed Robotic Manipulators With Extreme Joint Compliance

Salah Zenieh, Martin Corless
Proc. ASME. IMECE96, Nonlinear Dynamics and Controls, 99-104, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0443
https://doi.org/10.1115/IMECE1996-0443
View Paper titled, Tracking Controllers for Flexibly Jointed Robotic Manipulators With Extreme Joint Compliance
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Topics: Control equipment, Manipulators, Robots, Design, Trajectories (Physics), Actuators, Closed loop systems, Errors, Lyapunov functions, Perturbation theory
Proceedings Papers

Implementation of Sensory Feedback and Trajectory Tracking in Active Telemanipulation Systems

Anton V. Ephanov, Yildirim Hurmuzlu
Proc. ASME. IMECE96, Dynamic Systems and Control, 503-514, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0376
https://doi.org/10.1115/IMECE1996-0376
View Paper titled, Implementation of Sensory Feedback and Trajectory Tracking in Active Telemanipulation Systems
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Topics: Feedback, Trajectories (Physics), Stress, Manipulators, Control algorithms, Haptics, Mechanical properties, Robotics, Robust control, Robustness
Proceedings Papers

Adaptive Control Using Multiple Models and Model Weighting

A. Rajagopal, K. Krishnamurthy
Proc. ASME. IMECE96, Dynamic Systems and Control, 805-812, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0413
https://doi.org/10.1115/IMECE1996-0413
View Paper titled, Adaptive Control Using Multiple Models and Model Weighting
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Topics: Adaptive control, Artificial neural networks, Dynamic systems, Dynamics (Mechanics), Errors, Manipulators, Stress, Uncertainty
Proceedings Papers

A Spatial Compliance Controller for Serial Manipulators

Ernest D. Fasse
Proc. ASME. IMECE96, Dynamic Systems and Control, 607-613, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0389
https://doi.org/10.1115/IMECE1996-0389
View Paper titled, A Spatial Compliance Controller for Serial Manipulators
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Topics: Control equipment, Manipulators, Actuators, Linkages, Mechanical admittance, Robotics, Robots, Stiffness
Proceedings Papers

Automatic Identification of Remote Environments

Timothy M. Schulteis, Pierre E. Dupont, Paul A. Millman, Robert D. Howe
Proc. ASME. IMECE96, Dynamic Systems and Control, 451-458, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0369
https://doi.org/10.1115/IMECE1996-0369
View Paper titled, Automatic Identification of Remote Environments
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Topics: Algorithms, Delays, Engineering simulation, Friction, Manipulators, Simulation, Weight (Mass)
Proceedings Papers

Dynamics of Robot Arms and Chains via Kane’s Equations

Carmen M. Müller-Karger, Miles A. Townsend
Proc. ASME. IMECE96, Dynamic Systems and Control, 729-738, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0404
https://doi.org/10.1115/IMECE1996-0404
View Paper titled, Dynamics of Robot Arms and Chains via Kane’s Equations
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Topics: Chain, Dynamics (Mechanics), Robots, Equations of motion, Manipulators
Proceedings Papers

A Novel Registration Method for Robot-Assisted Surgery

K. Abdel-Malek, D. P. McGowan, V. K. Goel, D. Kowalski
Proc. ASME. IMECE96, Advances in Bioengineering, 441-442, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-1304
https://doi.org/10.1115/IMECE1996-1304
View Paper titled, A Novel Registration Method for Robot-Assisted Surgery
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Topics: Robots, Surgery, Bone, Computerized tomography, Algorithms, Computer-aided engineering, Kinematics, Manipulators, Orthopedics, Robotics
Proceedings Papers

An Exoskelton Manipulator for Application of Electro-Magnetic Virtual Forces

Greg R. Luecke, Young-Ho Chai, John A. Winkler, James C. Edwards
Proc. ASME. IMECE96, Dynamic Systems and Control, 489-494, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0374
https://doi.org/10.1115/IMECE1996-0374
View Paper titled, An Exoskelton Manipulator for Application of Electro-Magnetic Virtual Forces
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Topics: Manipulators, Computers, Magnetic fields, Design, Dynamic models, Electric current, Engineering prototypes, Errors, Haptics, Robots
Proceedings Papers

Joint Control With Passive Damping for a Planar Two-Link Tendon-Driven Flexible Manipulator

Emeka K. Ezeanya, Alan A. Barhorst
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A038, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95636
https://doi.org/10.1115/IMECE2022-95636
View Paper titled, Joint Control With Passive Damping for a Planar Two-Link Tendon-Driven Flexible Manipulator
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Topics: Flexible manipulators, Manipulators, Passive damping, Robots, Tendons, Vibration, Robotics, Deformation, Engineering simulation, Modeling
Proceedings Papers

New Design for Implementation of 2-Degree-of-Freedom Planar Parallel Robot for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A084, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-88317
https://doi.org/10.1115/IMECE2022-88317
View Paper titled, New Design for Implementation of 2-Degree-of-Freedom Planar Parallel Robot for Use in Creating an Infinite 3D Printer
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Topics: Additive manufacturing, Design, Finite element analysis, Manipulators, Robots, Dynamic models, Optimization, Printing, Extruding, Inertia (Mechanics)
Proceedings Papers

Benchmarking Various Nonlinear Control Design Techniques for a Two-Link Planar Robot Arm

Zeki Ilhan
Proc. ASME. IMECE2022, Volume 7: Engineering Education, V007T09A004, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95524
https://doi.org/10.1115/IMECE2022-95524
View Paper titled, Benchmarking Various Nonlinear Control Design Techniques for a Two-Link Planar Robot Arm
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Topics: Computer simulation, Engineering design processes, Robots, System dynamics, Algorithms, Control equipment, Design, Dynamic modeling, Dynamics (Mechanics), Education
Proceedings Papers

Automated Generation of Hybrid Probabilistic Risk Models From SysML V2 Models of Software-Defined Manufacturing Systems

Philipp Grimmeisen, Yuliang Ma, Mihai A. Diaconeasa, Andrey Morozov
Proc. ASME. IMECE2022, Volume 9: Mechanics of Solids, Structures, and Fluids; Micro- and Nano-Systems Engineering and Packaging; Safety Engineering, Risk, and Reliability Analysis; Research Posters, V009T14A031, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95433
https://doi.org/10.1115/IMECE2022-95433
View Paper titled, Automated Generation of Hybrid Probabilistic Risk Models From SysML V2 Models of Software-Defined Manufacturing Systems
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Topics: Chain, Computer software, Event history analysis, Manufacturing systems, Reliability, Risk, Digital twin, Manufacturing, Manipulators, Safety
Proceedings Papers

Detection and Classification of Robotic Manipulator Anomalies Using MLSTM-FCN Models

Yuliang Ma, Philipp Grimmeisen, Andrey Morozov
Proc. ASME. IMECE2022, Volume 9: Mechanics of Solids, Structures, and Fluids; Micro- and Nano-Systems Engineering and Packaging; Safety Engineering, Risk, and Reliability Analysis; Research Posters, V009T14A022, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95361
https://doi.org/10.1115/IMECE2022-95361
View Paper titled, Detection and Classification of Robotic Manipulator Anomalies Using MLSTM-FCN Models
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Topics: Cyber-physical systems, Manipulators, Time series