Dissertations / Theses on the topic 'Robots – Control systems'
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Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.
Full textCommittee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.
Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.
Full textPires, Leo Santana. "Uma contribuição ao estudo da dinamica não linear e controle de um particular sistema robotico levando-se em conta as interações entre as juntas." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264708.
Full textDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Meêanica
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Resumo: Uma aproximação unificada para projeto e controle de manipuladores robóticos que retenha todas as não linearidades inerentes na dinâmica é desenvolvido para uma configuração robô-motor considerado como um sistema interagente. Este projeto de sistema interagente, baseado no modelo de teoria de controle de desacoplagem não-linear de Beekmann, desacopla a configuração robô-motor para os subsistemas robô, motor e interação cm série. Esta aproximação está em contraste ao tratamento convencional do motor como uma pura fonte dc torque c o negligenciamento da interação dinâmica entre a junta do robô e o motor, e ao desconsiderar a formulação não-linear
Abstract: A unified approach to a robotic controI design, which retains all the nonlinearities inherent in the dynamics, is developed for the motor-robot configuration considered as an imeracting system. This control system design, based on the Beekmann model's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approch is in contrast to the conventional treatment of the motor as apure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism and not consider the nonlinear formulation
Mestrado
Projeto Mecanico e Mecanica dos Solidos
Mestre em Engenharia Mecânica
Kmelnitsky, Vitaly M. "Automated On-line Diagnosis and Control Configuration in Robotic Systems Using Model Based Analytical Redundancy." Digital WPI, 2002. https://digitalcommons.wpi.edu/etd-theses/167.
Full textAli, Khaled Subhi. "Multiagent telerobotics : matching systems to tasks." Diss., Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/9234.
Full textLove, Lonnie J. "Adaptive impedance control." Diss., Georgia Institute of Technology, 1995. http://hdl.handle.net/1853/15911.
Full textYuan, Hongliang. "Control of nonholonomic systems." Orlando, Fla. : University of Central Florida, 2009. http://purl.fcla.edu/fcla/etd/CFE0002683.
Full textSharif, Curtis Shahid. "Development of a supervisory surrogate controller for a robotic workcell." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17830.
Full textShifman, Jeffrey Joseph. "The control of flexible robots." Thesis, University of Cambridge, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.385838.
Full textGargas, Eugene Frank III. "Generation and use of a discrete robotic controls alphabet for high-level tasks." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43651.
Full textMoore, Philip R. "Pneumatic motion control systems for modular robots." Thesis, Loughborough University, 1986. https://dspace.lboro.ac.uk/2134/7033.
Full textKotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.
Full textApplied Science, Faculty of
Mechanical Engineering, Department of
Graduate
Wang, Can. "Formation control of multiple robot systems with motion synchronization concept /." access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b23750510f.pdf.
Full text"Submitted to Department of Manufacturing Engineering and Engineering Management in partial fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references.
Steven, Andrew. "Hybrid force and position control in robotic surface processing." Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.
Full textAlthaus, Philipp. "Indoor Navigation for Mobile Robots : Control and Representations." Doctoral thesis, KTH, Numerical Analysis and Computer Science, NADA, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3644.
Full textThis thesis deals with various aspects of indoor navigationfor mobile robots. For a system that moves around in ahousehold or office environment,two major problems must betackled. First, an appropriate control scheme has to bedesigned in order to navigate the platform. Second, the form ofrepresentations of the environment must be chosen.
Behaviour based approaches have become the dominantmethodologies for designing control schemes for robotnavigation. One of them is the dynamical systems approach,which is based on the mathematical theory of nonlineardynamics. It provides a sound theoretical framework for bothbehaviour design and behaviour coordination. In the workpresented in this thesis, the approach has been used for thefirst time to construct a navigation system for realistic tasksin large-scale real-world environments. In particular, thecoordination scheme was exploited in order to combinecontinuous sensory signals and discrete events for decisionmaking processes. In addition, this coordination frameworkassures a continuous control signal at all times and permitsthe robot to deal with unexpected events.
In order to act in the real world, the control system makesuse of representations of the environment. On the one hand,local geometrical representations parameterise the behaviours.On the other hand, context information and a predefined worldmodel enable the coordination scheme to switchbetweensubtasks. These representations constitute symbols, on thebasis of which the system makes decisions. These symbols mustbe anchored in the real world, requiring the capability ofrelating to sensory data. A general framework for theseanchoring processes in hybrid deliberative architectures isproposed. A distinction of anchoring on two different levels ofabstraction reduces the complexity of the problemsignificantly.
A topological map was chosen as a world model. Through theadvanced behaviour coordination system and a proper choice ofrepresentations,the complexity of this map can be kept at aminimum. This allows the development of simple algorithms forautomatic map acquisition. When the robot is guided through theenvironment, it creates such a map of the area online. Theresulting map is precise enough for subsequent use innavigation.
In addition, initial studies on navigation in human-robotinteraction tasks are presented. These kinds of tasks posedifferent constraints on a robotic system than, for example,delivery missions. It is shown that the methods developed inthis thesis can easily be applied to interactive navigation.Results show a personal robot maintaining formations with agroup of persons during social interaction.
Keywords:mobile robots, robot navigation, indoornavigation, behaviour based robotics, hybrid deliberativesystems, dynamical systems approach, topological maps, symbolanchoring, autonomous mapping, human-robot interaction
Sharif, Z. A. B. M. "Modelling and control of industrial robots." Thesis, City University London, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356002.
Full textMacdonald, Edward A. "Multi-robot assignment and formation control." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41200.
Full textDamweber, Michael Frank. "Model independent offset tracking with virtual feature points." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17651.
Full textMoretti, Mariana. "Estudo dinâmico e simulação de uma plataforma de Stewart com ênfase na implementação do sistema de controle." [s.n.], 2010. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265375.
Full textDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
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Resumo: Uma nova proposta de modelo dinâmico da Plataforma de Stewart é apresentada neste trabalho. Enquanto a cinemática inversa é usada para posicionar cada um dos seis braços do robô, o vetor de força que atua em seus deslocamentos é dado pelo torque de motores elétricos. A inércia em cada um dos pontos de apoio é aproximada por uma rigidez mecânica associada ao modulo de Young. Ainda, foi implementado um modelo dinâmico que usa a aproximação de Newton-Euler, amplamente aplicada na dinâmica inversa de robôs seriais, para o caso deste robô paralelo. Em ambas as abordagens, as equações foram implementadas em Matlab/SimulinkTM, e os resultados das simulações foram apresentados para validação das aproximações
Abstract: A new proposal for a dynamic model of the Stewart platform is presented. While the inverse kinematics is used to position each of the six arms of the robot, the vector of force acting on the displacement is given by the torque of electric motors. The inertia in each of the support points is approximated by a mechanical stiffness associated with the Young modulus. Still, it was implemented a dynamic model that uses the Newton-Euler approach, widely applied in the inverse dynamics of serial robots, for the case of this parallel robot. In both approaches, the equations were implemented in Matlab/SimulinkTM, and the simulation results were presented for validation of the approaches
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
Kinney, Justin P. "Jerk limited reference trajectory generation for motion control." Thesis, Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/16024.
Full textChunyu, Jiangmin. "Reactive control of autonomous dynamical systems." Doctoral diss., University of Central Florida, 2010. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4635.
Full textID: 029050648; System requirements: World Wide Web browser and PDF reader.; Mode of access: World Wide Web.; Thesis (Ph.D.)--University of Central Florida, 2010.; Includes bibliographical references (p. 134-139).
Ph.D.
Doctorate
Department of Electrical Engineering and Computer Science
Engineering
Liu, Kai. "Decentralized control of interconnected systems with applications to mobile robots." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15012.
Full textPalmer, Luther R. "Intelligent control and force redistribution for a high-speed quadruped trot." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.
Full textCelikkanat, Hande. "Control Of A Mobile Robot Swarm Via Informed Robots." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609966/index.pdf.
Full textPotocki, Jon Kyle 1965. "Adaptive control and simulation of the PUMA 560 robot." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/277217.
Full textPowers, Matthew D. "Applying inter-layer conflict resolution to hybrid robot control architectures." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33979.
Full textBallesteros, Mauricio. "Implementation alternatives for dual rate control systems with command shaping." Thesis, Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/19053.
Full textEconomy, A. Tommy. "A proposed methodology for the control of a semi-robotic convoy." Thesis, This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-12052009-020030/.
Full textLadoiye, Jasmeet Singh. "Control of Surgical Robots with Time Delay using Model Predictive Control." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/38256.
Full textRieber, Jochen M. "L₂-gain based control of a flexible parameter-varying robot link." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/20918.
Full textWang, Song, and 王松. "Motion planning and control simulation for robot assisted femur fracture reduction." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2010. http://hub.hku.hk/bib/B45161380.
Full textRao, Sanjay. "Some issues in the sliding mode control of rigid robotic manipulators." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 1995. https://ro.ecu.edu.au/theses/1183.
Full textRobertson, Michael James. "Methods for generating deflection-limiting commands." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/18965.
Full textNg, Kam-seng, and 黃錦城. "Multiagent joint control for multi-jointed redundant manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2005. http://hub.hku.hk/bib/B32046595.
Full textGomes, Mario Waldorff. "An examination of control algorithms for a dissipative passive haptic interface." Thesis, Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/16808.
Full textKalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.
Full textDierks, Travis. "Nonlinear control of nonholonomic mobile robot formations." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.umr.edu/thesis/pdf/Dierks_09007dcc803c490d.pdf.
Full textVita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed November 28, 2007) Includes bibliographical references.
Jagadeesan, Ananda Prasanna. "Real time evolutionary algorithms in robotic neural control systems." Thesis, Robert Gordon University, 2006. http://hdl.handle.net/10059/436.
Full textCheung, Wing-fung Jacob, and 張穎鋒. "Kinematics, dynamics and control of high precision parallel manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B37907116.
Full textDu, Winney Y. "Real-time robust feedback control algorithms for vibratory part feeding." Diss., Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/17211.
Full textGat, Erann. "Reliable goal-directed reactive control of autonomous mobile robots." Diss., This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-07282008-134502/.
Full textMa, Mo. "Navigation using one camera in structured environment /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20MA.
Full textYang, Xuedong. "Modeling and control of two-axis belt-drive gantry robots." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/13061.
Full textYokoo, Masahiro. "Robust tracking control design for cooperative robot arms carrying a common object." Thesis, Georgia Institute of Technology, 1992. http://hdl.handle.net/1853/17609.
Full textDavidson, Ian Joseph. "Tele-operation of a manipulator using the Internet." Thesis, Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/17623.
Full textBrooks, Douglas Antwonne. "Control of reconfigurability and navigation of a wheel-legged robot based on active vision." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26545.
Full textCommittee Chair: Howard, Ayanna; Committee Member: Egerstedt, Magnus; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.
Nguyen, Quan T. "Robust and Adaptive Dynamic Walking of Bipedal Robots." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1102.
Full textMcConnell, David James. "Analysis of model referenced adaptive control applied to robotic devices." Thesis, Kansas State University, 1985. http://hdl.handle.net/2097/17099.
Full textLew, Jae Young. "Control of bracing micro/macro manipulators." Diss., Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/15867.
Full textKozak, Kristopher C. "Robust command generations for nonlinear systems." Diss., Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/15849.
Full text