Дисертації з теми "Control engineering, mechatronics and robotics"
Оформте джерело за APA, MLA, Chicago, Harvard та іншими стилями
Ознайомтеся з топ-50 дисертацій для дослідження на тему "Control engineering, mechatronics and robotics".
Біля кожної праці в переліку літератури доступна кнопка «Додати до бібліографії». Скористайтеся нею – і ми автоматично оформимо бібліографічне посилання на обрану працю в потрібному вам стилі цитування: APA, MLA, «Гарвард», «Чикаго», «Ванкувер» тощо.
Також ви можете завантажити повний текст наукової публікації у форматі «.pdf» та прочитати онлайн анотацію до роботи, якщо відповідні параметри наявні в метаданих.
Переглядайте дисертації для різних дисциплін та оформлюйте правильно вашу бібліографію.
Craig, David. "Modeling and Control of a Magnetically Levitated Microrobotic System." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/2844.
Повний текст джерелаIssa, Alan, and Christos Andreanidis. "Wireless Control of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295847.
Повний текст джерелаDenna uppsats behandlar olika aspekter i utvecklingen av en robotarm vars gripdon är en hand med fem fingrar, med syfte att kunna imitera mänskliga rörelser. Imitationsförmågan, noggrannheten samt vilka faktorer som påverkar dessa studeras. För att uppnå ett önskvärt resultat har det krävts styrning och samverkan mellan olika elektroniska komponenter. I prototypen som presenteras mättes fingrarnas rörelsemed hjälp av flexsensorer samt rörelsen i armbåge och handleden med hjälp av vridpotentiometrar. Flexsensorerna och potentiometrarna var anslutna till en Arduino Mega vars värden skickades med hjälp av en sändare. Elektronikkomponenterna som användes i robotarmen var en ArduinoUno, sju servomotorer och en mottagare, vars funktion var att läsa av meddelanden som skickades från sändaren. Alla värden omvandlades till grader och motoraxlarna roterade i enlighet med dessa. Prototypen uppnådde ett önskvärt betteende då roboten hade förmågan att imitera alla rörelser som utfördes av styrenheten. Noggrannheten och imitationsförmågan undersöktes med olika tester. De mest betydelsefulla faktorer som påverkade imitationen och noggrannheten av prototypen var kopplade till vikten av roboten och designen av handen, enligt slutsatserna som har dragits.
Morris, Melissa. "Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation." FIU Digital Commons, 2017. http://digitalcommons.fiu.edu/etd/3350.
Повний текст джерелаSawczuk, Michal Gabriel. "Design and control of a 3D printed, 6DoF robot arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295797.
Повний текст джерелаSyftet med denna avhandling var att designa, konstruera och kontrollera en robotarm med sex frihetsgrader. Armen ska kunna utföra enkla uppgifter som pick-and-place med god noggrannhet och utan användning av externa sensorer. Denna avhandling underosöker precisionen och styrkan hos den konstruerade robotarmen. Armen konstruerades med 3D-printade delar och läattillgänglig hårdvara som gängstänger, lager, skruvar och muttrar. Varje axel använder en kombination av kuggremskivor och kuggremmar för att uppnå önskat moment. En differentialväxel användes i fyra av axlarna för att kombinera motorernas moment och minska vikten i armens övre delar. Roboten drivs av sex stegmotorer som styrs av en kombinationav RAMPS 1.4-shield och Arduino Mega 2560 mikrokontroller. Användaren kan styra varje axel genom att skicka kommandon till Arduinon via en USB-kabel. Kommandona genereras med hjälp av ett enkelt användargränssnitt skrivet i Python. Experiment har visat att armen har en genomsnittlig felökning på 0,0289-0,1356 mm för varje rörelse, beroende på vald hastighet. Den högsta vikt som armen i värsta fallkan håalla är 0,84 kg.
Chan, Darren Michael. "Telepresence: Design, Implementation and Study of an HMD-controlled Avatar with a Mechatronic Approach." DigitalCommons@CalPoly, 2015. https://digitalcommons.calpoly.edu/theses/1395.
Повний текст джерелаAnderson, Ellen, and Martin Granlöf. "Get a Grip : Dynamic force adjustment in robotic gripper." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264515.
Повний текст джерелаMobila autonoma robotar förväntas vara på marknaden inom de närmaste 5-10 åren. För att det här ska ske är det många utmaningar som behöver lösas och de mest kritiska är att utveckla mångsidiga och säkra robotar. Get a Grip-roboten är en dynamisk kraftanpassande robotklo som tar insignaler från två olika sensorsystem. Konstruktionen består av två parallella plattor som förflyttas av kuggstänger och kugghjul drivna av en DC motor. Inbyggt i en av kloplattorna finns en tryckkänslig kraftsensor (FSR) monterad för att registrera kraften som klon genererar. På den andra kloplattan sitter en egenkonstruerad glidsensor som registrerar om glidning sker och själva glidhastighet. En kran för att montera klon och lyfta den konstruerades även. Idén bakom detta kandidatexamens projektet är att klon ska kunna lyfta ett objekt med okänd vikt utan att använda mer kraft än nödvändigt. Det är något som kommer vara användbart både vid industriella tillämpningar och hos husållsrobotar i framtiden. För att realisera konceptet testades två olika metoder för att estimera kraften klon genererar, den första genom motorströmmen och den andra genom en FSR sensor. Tester genomfördes för båda metoderna och slutsatsen blev att FSR sensorn gav bäst noggrannhet och var mest konsekvent. PID-regulatorn, för bestämning av kraftreferens, med insignal från glidsensorn och PID-regulatorn, för genererad klokraft, med insignal från FSR:n testades separat. Resultatet blev två PID-regulatorer som ansågs tillräckliga för fortsätta tester med båda regulatorerna tillsammans.
KAZI, MEHNAZ, and MICHELLE BILL. "Robotic Hand Controlled by Glove Using Wireless Communication." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279812.
Повний текст джерелаIntresset för forskning och utveckling av humanoida robotarhar under de senaste åren varit på ständig uppfart. Applikationerna av sådana robotsystem är många och breda. Idetta kandidatarbete inom mekatronik konstruerades ettsådant robotsystem i formen av en hand. Syftet var att undersöka hur väl robothanden kunde imitera rörelserna av enanvändarburen kontrollerhandske samt hur väl den kundegreppa tag om objekt med hjälp av trådlös kommunikation. Kontrollerhanskens komponenter bestod av en Arduino Nano mikrokontroller, fem flex sensorer, en tröghetsmätenhet som mätte rotationen av handleden, en nRF24L01sändarenhet samt en extern kraftkälla på 9 volt. Robothanden bestod av tredimensionellt utskrivna delar från ettopen source bibliotek, en Arduino Uno mikrokontroller, ennRF24L01 mottagarenhet, två externa kraftkällor på 9 voltrespektive 5 volt samt sex stycken servomotorer. Varje enskild finger samt handled var kopplad till en servomotorvar. Robothanden kunde imitera kontrollhandskens rörelser med liten försening och kunde greppa tag om objekt avolika storlekar, utformningar samt vikter upp till 134 gram.Den konstruerade robothanden åstadkom de önskade målensom sattes för projektet. Resultaten indikerade att robothandens greppförmåga om föremål med styva ytor och dessimitation kan förbättras.
Nore, Miko, and Caspar Westerberg. "Robotic Arm controlled by Arm Movements." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264509.
Повний текст джерелаUnder senare årtionden har mänskliga arbetare inom tillverkning och industri över lag i stor utsträckning ersatts av robotar och automatiserade maskiner, men det finns fortfarande uppgifter som kräver mänsklig tankeförmåga. Denna rapport presenterar utvecklingen av en trådlös robotarm styrd av en människas arm, vilket möjliggör både att kombinera en maskins styrka med en människas intelligens, samt för en människa att utföra dynamiska uppgifter utan att vara närvarande. En applikation lämplig för arbete i farliga miljöer. Detta uppnåddes med en styrenhet i form av ett exo-skelett fastsatt på operatörens högra arm och kopplad till robotarmen genom en sändare. Styrenheten mäter rörelserna i varje led med potentiometrar och robotarmen härmar dessa rörelser. En handske med en flexsensor på pekfingret fästes sedan på styrenheten för att mäta fingerrörelsen. All information som innehåller vinklar skickas trådlöst till robotarmen med hjälp av Arduino Uno och transceiver moduler. Robotarmen mottog informationen via en annan uppsättning Arduino Uno och transceiver modul som fick varje servomotor på robotarmen att rotera i enlighet. Resultatet visade att robotarmen kunde imitera operatörens arm väl och kunde bära olika föremål med olika vikter och ytor. Den trådlösa styrningen var pålitlig och kunde styra robotarmen från ett annat rum, vilket gör det möjligt att använda denna robot i skadliga miljöer för människor.
Linder-Aronson, Philip, and Simon Stenberg. "Exo-Controlled Biomimetic Robotic Hand : A design solution for control of a robotic hand with an exoskeleton." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295846.
Повний текст джерелаRobotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal forskningsfrågor med avseende på form och funktion av en biomimetisk hand och exoskelettet. Under projektets gång påträffades en mängd problem såsom budgetproblem som resulterade i att bara hälften av fingrarna kan kontrolleras. Trots detta fick vi bra resultat från de fungerande fingrarna och våra forskningsfrågor kunde besvaras.
Zaitouni, Wael K. "Applied Real-Time Integrated Distributed Control Systems: An Industrial Overview and an Implemented Laboratory Case Study." Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc862854/.
Повний текст джерелаSmit, Albert. "Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform." Thesis, Stellenbosch : Stellenbosch University, 2011. http://hdl.handle.net/10019.1/17785.
Повний текст джерелаENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS). The RoboCup Small Size League (SSL), in particular, offers an entry level opportunity to take part in this field of study. This thesis presents a starting phase for research in robotics and MRS at Stellenbosch University. It includes the full documentation of the mechanical, electronic and software design of an omni-directional soccer robot for RoboCup SSL. The robot is also meant to operate as a hardware and software development platform for research in MRS. The platform was therefore designed with high-level programming language compatibility, a wide range of connectivity, and modularity in mind. The robot uses a single board computer (SBC) running a Linux operating system to accomplish these objectives. Moreover, a driver class library was written in C++ as a software application interface (API) for future development on the robot platform. The robot was also developed with a particular focus on a distributed control architecture. "Player" was implemented as the middleware, which can be used for communication between multiple robots in a distributed environment. Additionally, three tests were performed to demonstrate the functionality of the prototype: a PI speed control test, a direction accuracy test and a static communication test using the middleware. Recommendations for possible future work are also given.
AFRIKAANSE OPSOMMING: RoboCup bevorder navorsing in robotika en multi-robot-stelsels (MRS). Die RoboCup Klein Liga (KL) bied in die besonder die geleentheid om op intreevlak navorsing te doen in hierdie veld. Hierdie tesis verteenwoordig die eerste fase van navorsing in robotika en MRS by Stellenbosch Universiteit. Dit sluit die volledige dokumentasie van die meganiese, elektroniese en sagteware-ontwerp van ’n omnidireksionele sokker-robot vir die KL in. Die robot is ook veronderstel om te dien as ’n hardeware- en sagteware-ontwikkelingsplatform vir navorsing in MRS. Die platform is dus ontwerp met ’n verskeidenheid van uitbreingsmoontlikhede en modulariteit in gedagte asook die moontlikheid om gebruik te maak van ’n hoë-vlak programmeertaal. Om hierdie doelwitte te bereik, maak die robot gebruik van ’n enkel-bord-rekenaar met ’n Linux bedryfstelsel. Verder was ’n sagteware drywer in C++ geskryf om te dien as ’n sagteware-koppelvlak vir toekomstige ontwikkeling op die robot platform. Die robot is ook ontwikkel met die besondere fokus op ’n gedesentraliseerde beheerstels. Player was geïmplementeer as die middelware, wat gebruik kan word vir kommunikasie tussen verskeie robotte in ’n gedesentralliseerde beheerstelsel. Daar is drie toetse uitgevoer om die funksionaliteit van die prototipe te demonstreer, ’n PI spoed beheer toets, ’n rigting akkuraatheidstoets en ’n statiese kommunikasie toets deur van die middelware gebruik te maak. Aanbevelings vir moontlike toekomstige werk word ook verskaf.
Edgar, Alexander Montero Vera. "Virtual Commissioning of an industrialwood cutter machine : A software in the loop simulation." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-77401.
Повний текст джерелаPlante, Jean-Sébastien Ph D. Massachusetts Institute of Technology. "Dielectric elastomer actuators for binary robotics and mechatronics." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35305.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
"February 2006."
Includes bibliographical references (p. 145-153).
Future robotics and mechatronics applications will require systems that are simple, robust, lightweight and inexpensive. A suggested solution for future systems is binary actuation. Binary actuation is the mechanical analogy to digital electronics, where actuators "flip" between two discrete states. Systems can be simple since low-level feedback control, sensors, wiring and electronics are virtually eliminated. However, conventional actuators, such as DC motors and gearbox are not appropriate for binary robotics because they are complex, heavy, and expensive. This thesis proposes a new actuation technology for binary robotics and mechatronics based on dielectric elastomer (DE) technology. DE actuators are a novel class of polymer actuators that have shown promising low-cost performance. These actuators were not well understood and, as a result, faced major reliability problems. Fundamental studies conducted in this thesis reveal that reliable, high performance DE actuation based on highly viscoelastic polymers can be obtained at high deformation rates, when used under fast, intermittent motion.
(cont.) Also, analytical models revealed that viscoelasticity and current leakage through the film govern performance. These results are verified by an in-depth experimental characterizion of DE actuation. A new DE actuator concept using multi-layered diamond-shaped films is proposed. Essential design tools such as reliability/performance trade-offs maps, scaling laws, and design optimization metrics are proposed. A unit binary module is created by combining DE actuators with bistable structures to provide intermittent motion in applications requiring long-duration stateholding. An application example of binary robots for medical interventions inside Magnetic Resonance Imaging (MRI) systems illustrates the technology's potential.
by Jean-Sébastien Plante.
Ph.D.
Heunis, Jacobus Stephanus. "A user interface for a seven degree of freedom surgical robot." Thesis, Stellenbosch : Stellenbosch University, 2012. http://hdl.handle.net/10019.1/71833.
Повний текст джерелаENGLISH ABSTRACT: This thesis describes the process of developing a user interface for a seven degree of freedom (DOF), minimally invasive surgical robot. For the first two main stages of the overall project, completed by previous students, a primary slave manipulator (PSM) and a secondary slave manipulator (SSM) were developed. The stage in this thesis concentrates on creating a joystick that can control the combined movement of the PSM and SSM. Background information on the field of robotic surgery, with specific reference to current systems’ user interfaces, is given and the technical aspects of the PSM and SSM are determined. This is followed by the motivation and main objectives of the thesis. Objectives were divided into the main categories of mechanical design, electronic design, control system design and testing. The mechanical design of the joystick progresses through a concept development stage, before a final seven DOF articulated arm design is presented and evaluated based on engineering specifications. Aluminium is used as the construction material; electromagnetic brakes are specified for each joint, leading to the final assembly, which is a constructed joystick fulfilling all requirements. The electronic design implements magnetic rotary encoders for the joystick’s position and orientation tracking as well as designs of the necessary power and control circuitry to enable correct joystick functioning. The interfacing of the PSM and SSM had to enable successful communication capabilities between the master and the slave. Several necessary adjustments were therefore made to the slave system, after which the joystick and robot were electronically interfaced to provide a direct serial communication line. For control system design, the joystick and robot were modelled according to the Denavit-Hartenberg principle, which allows direct relation between the position and orientation of the respective end effectors on the joystick and robot sides. Forward kinematic equations were then applied to the joystick; the desired position and orientation of the robot end effector were determined, and inverse kinematic equations were applied to these data to establish the robot’s joint variables. This stage ended with the development of two operational modes: one where only the SSM motors are controlled in order for the slave to follow the master’s movements, and the other where the PSM’s motors are controlled separately. The simultaneous control of all robot motors could not be demonstrated due to fundamental mechanical flaws in the PSM and SSM designs. Finally, testing was undertaken to demonstrate movement control of the robot by the joystick. The intuitiveness of the product was also tested successfully. The study ends with the presentation of the conclusions, the main conclusions being the successful development and testing of a joystick that controls the movement of a surgical robot, as well as the achievement of all main thesis objectives.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die proses vir die ontwikkeling van ’n gebruikerskoppelvlak vir ’n sewevryheidsgraad-, minimaal indringende chirurgiese robot. In die eerste twee hoofstadia van die algehele projek, voltooi deur ander studente, is ’n primêre slaafmanipuleerder (PSM) en ’n sekondêre slaafmanipuleerder (SSM) ontwikkel. Die stadium in hierdie tesis konsentreer op die skep van ’n stuurstok waarmee die gekombineerde beweging van die PSM en SSM beheer kan word. Agtergrondinligting oor die gebied van robotiese chirurgie word verskaf, met spesifieke verwysing na die gebruikerskoppelvlakke van huidige stelsels, en die spesifikasies van die PSM en SSM word vasgestel. Daarna volg die beweegrede sowel as die belangrikste oogmerke van die projek. Die oogmerke is in die hoofafdelings van meganiese ontwerp, elektroniese ontwerp, beheerstelselontwerp en toetsing verdeel. Die meganiese ontwerp van die stuurstok behels ’n konsepontwikkelingstadium, wat uitloop op ’n finale sewevryheidsgraad-ontwerp, wat dan op grond van ingenieurspesifikasies aangebied en beoordeel word. Aluminium word as boumateriaal gebruik; elektromagnetiese remme word vir elke koppeling gespesifiseer, en die finale samestel is ’n gekonstrueerde stuurstok wat aan alle vereistes voldoen. Die elektroniese ontwerp behels die gebruik van magnetiese draaikodeerders om die stuurstok se posisie en oriëntasie te bepaal, sowel as meganismes met die nodige krag- en beheerstroombaanwerk om die stuurstok reg te laat funksioneer. ’n Koppelvlak tussen die PSM en die SSM moes suksesvolle kommunikasie tussen die meester en die slaaf bewerkstellig. Verskeie nodige aanpassings is dus aan die slaafstelsel aangebring, waarna die stuurstok en robot elektronies gekoppel is om ’n direkte reekskommunikasielyn te skep. Vir beheerstelselontwerp is die stuurstok en robot volgens die Denavit- Hartenberg-beginsel gemodelleer, wat ’n direkte verhouding tussen die posisie en oriëntasie van die onderskeie eindpunt-effektors aan die stuurstok- en robotkant daarstel. Voorwaartse kinematiese vergelykings is daarna op die stuurstok toegepas; die gewenste posisie en oriëntasie van die robotiese eindpunt-effektor is bepaal, waarna terugwaartse kinematiese vergelykings op hierdie data toegepas is om die robot se koppelingveranderlikes te bepaal. Hierdie afdeling word afgesluit met die ontwikkeling van twee bedryfsmodusse: een waar slegs die SSM-motore beheer word sodat die slaaf die meester se bewegings kan navolg, en die ander waar die PSM se motore afsonderlik beheer word. Die gelyktydige beheer van al die robotmotore kon nie getoon word nie weens fundamentele meganiese tekortkominge in die PSM- en SSM-ontwerp. Laastens is ’n toets uitgevoer om die bewegingsbeheer van die robot deur die stuurstok te toon. Die intuïtiwiteit van die produk is ook suksesvol getoets. Die studie sluit af met die projekgevolgtrekkings, waarvan die belangrikste die suksesvolle ontwikkeling en toetsing van ’n stuurstok is wat daarin slaag om die beweging van ’n chirurgiese robot te beheer, sowel as die verwesenliking van alle hoofprojekoogmerke.
Holtzhausen, David Schalk. "Development of distributed control system for SSL soccer robots." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80221.
Повний текст джерелаENGLISH ABSTRACT: This thesis describes the development of a distributed control system for SSL soccer robots. The project continues on work done to develop a robotics research platform at Stellenbosch University. The wireless communication system is implemented using Player middleware. This enables high level programming of the robot drivers and communication clients, resulting in an easily modifiable system. The system is developed to be used as either a centralised or decentralised control system. The software of the robot’s motor controller unit is updated to ensure optimal movement. Slippage of the robot’s wheels restricts the robot’s movement capabilities. Trajectory tracking software is developed to ensure that the robot follows the desired trajectory while operating within its physical limits. The distributed control architecture reduces the robots dependency on the wireless network and the off-field computer. The robots are given some autonomy by integrating the navigation and control on the robot self. Kalman filters are designed to estimate the robots translational and rotational velocities. The Kalman filters fuse vision data from an overhead vision system with inertial measurements of an on-board IMU. This ensures reliable and accurate position, orientation and velocity information on the robot. Test results show an improvement in the controller performance as a result of the proposed system.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwikkeling van ’n verspreidebeheerstelsel vir SSL sokker robotte. Die projek gaan voort op vorige werk wat gedoen is om ’n robotika navorsingsplatform aan die Universiteit van Stellenbosch te ontwikkel. Die kommunikasiestelsel is geïmplementeer met behulp van Player middelware. Dit stel die robotbeheerders en kommunikasiekliënte in staat om in hoë vlak tale geprogrameer te word. Dit lei tot ’n maklik veranderbare stelsel. Die stelsel is so ontwikkel dat dit gebruik kan word as óf ’n gesentraliseerde of verspreidebeheerstelsel. Die sagteware van die motorbeheer eenheid is opgedateer om optimale robot beweging te verseker. As die robot se wiele gly beperk dit die robot se bewegingsvermoëns. Trajekvolgings sagteware is ontwikkel om te verseker dat die robot die gewenste pad volg, terwyl dit binne sy fisiese operasionele grense bly. Die verspreibeheerargitektuur verminder die robot se afhanklikheid op die kommunikasienetwerk en die sentrale rekenaar. Die robot is ’n mate van outonomie gegee deur die integrasie van die navigasie en beheer op die robot self te doen. Kalman filters is ontwerp om die robot se translasie en rotasie snelhede te beraam. Die Kalman filters kombineer visuele data van ’n oorhoofse visiestelsel met inertia metings van ’n IMU op die robot. Dit verseker betroubare en akkurate posisie, oriëntasie en snelheids inligting. Toetsresultate toon ’n verbetering in die beheervermoë as ’n gevolg van die voorgestelde stelsel.
Xie, Yi 1980. "Mechatronics examples for teaching modeling, dynamics, and control." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/29730.
Повний текст джерелаIncludes bibliographical references (leaves 109-110).
This thesis presents the development of a single-axis magnetic suspension. The intention is to use this system as a classroom demo for an introductory course on modeling, dynamics, and control. We solve this classic nonlinear controls problem with feedback linearization; the main advantage with this technique is operating point independency. However, it is highly sensitive to modeling errors and unpredicted plant behavior. We overcome these barriers by using a model based on both theory and experimentally determined behavior. This paper details the theory, modeling, and implementation, concluding with performance analysis.
by Yi Xie.
M.Eng.
Post, Brian Karl. "Robust state estimation for the control of flexible robotic manipulators." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/52193.
Повний текст джерелаKhairallah, Ousama Said. "Robotics Control using Active Disturbance Rejection Control." Cleveland State University / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=csu1262832204.
Повний текст джерелаFrankel, Joseph George. "Development of a Haptic Backhoe Testbed." Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/4980.
Повний текст джерелаMohamedy, Alaa Eldien Shawky. "Nonlinear control engineering with application to robotic and machinery control systems." Thesis, University of Strathclyde, 2003. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.269897.
Повний текст джерелаPoonawala, Hasan A. "Formation control and connectivity control for mobile robot networks using vision based measurements." Thesis, The University of Texas at Dallas, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3629039.
Повний текст джерелаSeveral algorithms for multi-robot coordination assume that the communication network of a team of mobile robots is connected, so that information can be exchanged between any two robots in the team. The network topology is often state-dependent, and thus the robots may move in a way that causes the network to become disconnected. This dissertation proposes continuous time control laws that preserve the connectivity for both undirected and directed mobile robot networks, which can be used along with additional task-dependent control actions. An additional aim of the dissertation is to provide control algorithms to achieve multi-robot coordination methods using vision-based feedback. Feedback control laws are presented that achieve tracking of desired relative positions between a pair of non-holonomic mobile robots using relative position measurements only. Issues pertaining to vision-based implementation of the connectivity control laws are discussed, and solutions are presented.
Refour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.
Повний текст джерелаMS
Lindestam, Algot, and David Lorang. "Design and Stability of a Quadruped Robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296171.
Повний текст джерелаI dagsläget ser vi en snabb expansion i användningen av robotar för att utföra alltmer avancerade uppgifter. På grund av detta var målet med detta projekt att utveckla en fyrbent robot med en enkel implementation av självbalansering. Den framtagna prototypen är en robot av hundstil med bakåtgående knän. Styrenheten är en Arduino UNO mikrokontroller. Med information från ett gyroskop styr denna roboten med hjälp av dess servomorer. Prototypen är kapabel att hålla balansen då den står på lutande underlag. Rörelsen är baserad på en kinematisk modell av bengeometrin och förutsätter en plan markyta.
Safi, Samghabadi Pedram. "Kinematic analysis and control design of a retractable wheel mechanism using optimal control theory." Thesis, California State University, Long Beach, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1527340.
Повний текст джерелаMobile robots are un-manned systems and must be able to overcome the obstacles they face without human intervention. In this research we have proposed a novel retractable mechanism which converts a linear hydraulic motion into expansion of six claws at each wheel. In order to control the expansion, optimal control theory was applied and a constrained optimization problem was defined using different Simulink toolboxes and applied to the mechanism modeled in SimHydraulics/SimMechanics. The main benefit of performing both hydraulic and mechanical system simulation and also control design in the same environment is to eliminate mathematical approximation of the model and using existing Simulink simulation tools for simulation and control. Systems were modeled and controller optimization was performed. Simulation results are illustrated at the end, which show the method's versatility and reliability for controlling the mechanism operation.
Sherman, Matthew. "A Hands-on Method of Instruction for Feedback Control Systems and Mechatronics." Honors in the Major Thesis, University of Central Florida, 2005. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/805.
Повний текст джерелаBachelors
Engineering and Computer Science
Mechanical Engineering
Faragalli, Michele. "Intelligent velocity control of a bounding quadruped robot." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=40825.
Повний текст джерелаLe « Platform for Ambulating Wheels » (PAW) est un robot quadrupède qui possède des roues au bout de ses quatre jambes. Sa combinaison de roues et jambes lui permet de rouler, d’effectuer des virages en inclinant son corps, de sauter, de bondir et de galloper. Dans les travaux précédents, le robot utilisait des angles fixes, trouvés par essais et erreurs, pour pouvoir bondir à une certaine vitesse. Un contrôleur intelligent capable de trouver les angles de façon autonome afin de suivre une vitesse prédéterminée est développé dans ce mémoire. Premièrement, la performance du contrôleur est évaluée dans une simulation MSC Adams et MATLAB démontrant les capacités à suivre des vitesses entre 0.9 et 1.3 m/s. Le contrôleur démontre une capacité à suivre la vitesse désirée même en présence de changement de terrain mineur.Ensuite, un filtre Kalman pour système non-linéaire est développé pour estimer la vitesse du robot, un paramètre nécessaire pour introduire le système de contrôle intelligent sur le robot. Les données d’une unité de mesure inertielle et une estimation de la vitesse par des équations cinématiques sont combinés dans le filtre pour estimer plus précisément la vitesse du robot. La précision du filtre est validée en comparant ses résultats contre ceux acquis en simulation et par une caméra à haute vitesse.Finalement, le contrôleur intelligent est évalué sur le robot en utilisant la vitesse estimée par le filtre Kalman. Les résultats expérimentaux du contrôleur démontre qu’il est capable de bien suivre des vitesses entre 0.9 et 1.3 m/s.
Erdener, Onur Alper. "Development Of A Mechatronics Education Desk." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1095066/index.pdf.
Повний текст джерелаVan, der Merwe Dirk (Dirk Jacobus). "Computer control of a metal bar bending press." Thesis, Stellenbosch : Stellenbosch University, 2000. http://hdl.handle.net/10019.1/51661.
Повний текст джерелаENGLISH ABSTRACT: Mechatronics is an exciting research area that stemmed from huge progress in computer technology from the 1970s onwards. In such systems, computer controlled electronic and mechanical devices interact so intimately that it is impossible to tell where the one ends and the other begins. A mechatronic project aimed at automated manufacturing was undertaken by the Department of Industrial Engineering at the University of Stellenbosch as part of their programme in mechatronics. ROYIC was the industrial partner in the joint venture. ROYIC manufactures a front loader that is used on tractors. The front loader fits on a tractor by means of a kit that has to be manufactured specially for each type of tractor. The design of the kit needed many welding joints, which lead to a difficult and expensive manufacturing process. A bending press that was capable of bending pre-cut steel into a predefined shape was identified as a viable solution. The mechanical design for the project was done by ROYIC, while the University was responsible for the electronic control. Bending is carried out by pushing a flat bar over a Y-block into the bending position which can be read from a position encoder. The bending blade then bends the metal until the appropriate angle is reached. It is impossible to predict the resulting angle by means of analytical techniques. This is due to non-linear behaviour caused by spring-back. The position of the bending blade is read with an incremental encoder. An empirical equation is used to convert the distance read by the sensor into the appropriate angle. The parameters are deduced by means of non-linear regression methods. A mean square error of 0.069 was obtained for the equation when operating in the linear area of the plastic region of bending. A software application was written to enable ROYIC to deduce the needed parameters of the equation for all types of steel. Pulse control was used to control the bending blade. The blade moves continuously until a pulse band is reached. The blade is pulsed from there into a dead band. Consequently the accuracy of the machine is determined by the width of the dead band. The control program is capable of executing bend sequence files to enable the operator to perform a sequence of bends on a metal bar. Safety was of great importance in the design. The control system was designed to give priority to safety signals over other control signals. Dangerous situations owing to computer failure are thus prevented.
AFRIKAANSE OPSOMMING: Megatronika is 'n opwindende navorsingsarea wat ontstaan het uit groot vooruitgang in rekenaartegnologie vanaf 1970. In megatroniese sisteme werk rekenaar beheerde elektroniese en meganiese toestelle so nou saam dat dit onmoontlik is om agter te kom waar die een begin en die ander eindig. 'n Megatronika projek gerig op vervaardigings outomatisasie is onlangs onderneem deur die Departement van Bedryfsingenieurswese van die Universiteit van Stellenbosch as deel van hul program in megatronika. ROVle was die industriële vennoot in die projek. ROVle vervaardig implemente vir gebruik op plase. Een van hul produkte is 'n laaigraaf wat met 'n hegstuk op 'n trekker pas. Die hegstuk moet spesifiek vir elke tipe trekker ontwerp word wat gelei het tot 'n ontwerp met baie sweislaste wat 'n tydrowende vervaardigingsproses vereis. 'n Staal buigmasjien wat vooraf gesnyde staal in 'n spesifieke vorm kan buig sou hierdie probleem kon oorbrug. Die meganiese ontwerp vir die masjien is gedoen deur ROVle terwyl die Universiteit verantwoordelik was vir die elektroniese beheer. Staal word gebruik deur 'n staalbalk te skuif oor die buigbed tot in die buigposisie wat afgelees word vanaf' n posisie enkodeerder. Die buiglem buig dan die staal in die benodigde hoek. Geen analitiese metodes bestaan om die buighoek te voorspel nie weens terugspringing. Die posisie van die buiglem word ingelees met behulp van 'n inkrementeie enkodeerder. 'n Empiriese vergelyking word gebruik om die afstand beweeg om te skakel in 'n buighoek. Die verskillende parameters word afgelei deur middel van regressie metodes. Die gemiddelde foute kwadraat was 0.069 wat getoets is vir slegs die lineêre area van die plastiese gebied. 'n Program is geskryf wat ROVle instaat stelom die benodigde parameters self af te lei. Puls beheer is gebruik op die beheer van die buiglem. Die lem beweeg kontinu tot binne die puls band en word daarvandaan gepuls tot by die stopband. Die grootte van die stopband bepaal dus die akkuraatheid van die masjien. Die beheerprogram kan ook buig sekwensie lêers uitvoer wat die operateur instaat stelom 'n reeks van buigings op 'n staal balk uit te voer. Veiligheid het deurgaans 'n belangrike rol gespeel in die ontwerp van die masjien. Die stelsel is ontwerp om prioriteit te gee aan veiligheidseine bo enige ander beheersein. Gevaarlike situasies wat mag ontstaan as die rekenaar sou faal, word dus voorkom.
Dhundur, Ninad Pravin. "Modeling and Control of Cable-Riding Robots." Thesis, University of Louisiana at Lafayette, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1553884.
Повний текст джерелаCables are used in various fields like construction, sports, communication, and transportation. Two important fields where cables are used for this research are transportation and high-voltage power lines. In the field of transportation, cables are used in cable-riding systems like cable cars, tramways, and gondola lifts. Vibration is induced in these systems. These vibrations are undesirable.
High-voltage power line cables are important part of our lives. Inspection of these power lines is necessary to eliminate the risk of power outages. Earlier power lines were inspected by skilled humans by crawling along the power lines. This inspection task was replaced by cable riding inspection robots to eliminate the risk to human life.
This research explains various inspection robots and problems in these types of cable-riding systems. In this research, to determine the vibrations in the cable due to riding load, a new simple cable-mass system was developed. This new cable-mass system makes it easy to develop a control system to reduce the cable vibrations.
To inspect the power lines, HiBot developed an inspection robot called Expliner that travels along the live power lines. For uninterrupted inspection operation, Expliner traverses obstacles on the power lines with its intelligent acrobatic mode. In this mode, Expliner is subjected to rocking oscillation. This rocking oscillation is also induced in the cables cars. This rocking is undesirable and is unsafe.
This research introduces a method to reduce rocking in cable-riding systems. This method, called input shaping, is used to run simulations for Expliner traveling along curved cables. This research develops an input shaper to reduce rocking in cable-riding robots like Expliner.
Kotze, Johannes Marthinus Albertus. "TCP/IP facilitated flexible robotics controller." Thesis, Stellenbosch : University of Stellenbosch, 2007. http://hdl.handle.net/10019.1/2665.
Повний текст джерелаRobot control by TCP/IP communication is investigated in this thesis for existing robots used in tertiary education. The request for newer software for robotic computer control came from the University of Stellenbosch Industrial Engineering department where existing software dating back to 1988 is still in use. A thorough investigation into the research and technologies available is followed by a discussion on the proposed software to adhere to the requirement of compatibility with existing languages in use by the department and provide tools to assist in future research in robotic manipulators and control. The proposed software solution uses a client/server model running over an IP-based network providing online and offline programming with visual feedback by means of video streaming and 3D simulations, developed as separate modules combined into an effective tool for future research and development.
McPhillips, Graeme. "The control of semi-autonomous robots." Master's thesis, University of Cape Town, 2004. http://hdl.handle.net/11427/15417.
Повний текст джерелаRobotic soccer is an international area of research which involves multiple robots collaborating in an adversarial and dynamic environment. Although many different forms gf robotic soccer are played, the University of Cape Town (UCT) chose the RoboCup small» sized robot league, officially known as the F180 RoboSoccer league, as a means of pursuing robotics research within the institution. The robot soccer game is played between two teams of ï¬ ve robots on a carpeted surface that is 2.8 m long by 2.3 m wide. The robots have their own on-board controllers that execute instructions sent to them from a computer-based artiï¬ cial intelligence (AI) system. In order for the AI system to keep track of all the robots and the ball (an orange golf ball), a global vision system is utilised. This global vision system uses images captured from either one or multiple digital cameras mounted above the ï¬ eld of play to determine the position and orientation of the team's robots, the position of the other teams' robots and ï¬ nally the position of the ball. In the true spirit of competition and furthering research, the rules which govern F180 RoboSoccer league cover only the basic format of the game thereby leaving various aspects of the robots, global vision system and AI design open for development. Since there was no RoboSoccer research in existence at UCT prior to the inception of this researcher's Masters' thesis the task included both the establishment of this format of robotics research at the institution as well as the actual design and development of the robots and the associated components as outlined below. Developing a team of robots requires a wide array of knowledge and the research undertaken was accordingly broken into three key components; the design of the robots (which included their related electronics and on-board controller), the design of a vision system and the design of an Al system. The main focus of this author's work was on the design of the robots as well as the overall structuring and integration of the UCT F180 RoboSoccer team. In addition, the areas of the global vision system and AI system that were covered within the scope of this thesis, are also presented. Prototypes were developed and in the ï¬ rst the main emphasis was placed on the movement of the robot, with the design of the kicking mechanism only occurring subsequent to this. After the ï¬ rst competition in 2002, this ï¬ rst design was abandoned in favour of developing a simpler robot with which to continue development. This simpler robot became the second prototype which, after testing, was reï¬ ned into the competition robot for 2003. During this period, the Al and global vision systems were developed by undergraduate thesis students. This research was then incorporated where applicable and, ï¬ nally, the residual problem areas were again addressed by a collaboration of staff and students. Whilst the design and implementation of the robots was very successful, the vision system was not successfully implemented before the competition in 2003. Although an autonomous game of soccer was not successfully played in the 2003 competition, the UCT F180 RoboSoccer team had made a great deal of progress towards this goal and, consequently, a strong foundation for future robotic soccer research within UCT has been established.
Yang, Yin. "Nonlinear control and state estimation of holonomic indoor airship." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106573.
Повний текст джерелаTrois méthodes optimales de commande à retour d'état complet sont proposées ici afin d'accomplir les exigences du vol intérieur d'un ballon dirigeable holonomique, et ceci, en temps réel. Les manoeuvres exigées incluent le maintien d'une position stationnaire, le mouvement vers un point et suivant une trajectoire continue. Pour la régularisation, un modèle quasi-stationnaire du ballon est assumé et un régulateur quadratique-linéaire (LQR) à horizon infini est utilisé dans un mode d'échelonnage des gains. De plus, les mouvements vers un point sont accomplis en se basant sur le retour d'état pour résoudre l'équation de Riccati qui en dépend et pour compenser la dynamique non-linéaire. Finalement, les perturbations autour d'une trajectoire continue sont rejetées par une méthode dédiée afin de suivre cette trajectoire. Preuves expérimentales et simulées à l'appui, ces méthodes de commande démontrent des avantages significatifs par rapport aux méthodes classiques de commande porportionelle-dérivée (PD), et ceci, avec des exigences modérées sur le système informatique. Ce travail de thèse démontre aussi l'utilisation d'un filtre de Kalman non-parfumé (UKF) pour estimer l'état du système. Cette estimation produit le retour d'ètat complet nècessaire aux mèthodes de commande et à d'autres tâches de navigation en combinant les mesures de différents systèmes enbarqués (système inertiel et télédétecteur par laser) et non-embarqués (système de capture du mouvement à l'infra-rouge). Une méthode de fusion sensorielle à séparation partielle est utilisée et validée expérimentalement.
Bombile, Michael Bosongo. "Visual servo control on a humanoid robot." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/18197.
Повний текст джерелаThis thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the success of the numerous services that this kind of robots can render with their ability to associate dexterity and mobility in structured, unstructured or even hazardous environments. To achieve this objective, a humanoid robot is fully modeled and the control of its locomotion, conditioned by postural balance and gait stability, is studied. The presented approach is formulated to account for all the joints of the biped robot. As a way to conform the reference commands from visual servoing to the discrete locomotion mode of the robot, this study exploits a reactive omnidirectional walking pattern generator and a visual task Jacobian redefined with respect to a floating base on the humanoid robot, instead of the stance foot. The redundancy problem stemming from the high number of degrees of freedom coupled with the omnidirectional mobility of the robot is handled within the task priority framework, allowing thus to achieve con- figuration dependent sub-objectives such as improving the reachability, the manipulability and avoiding joint limits. Beyond a kinematic formulation of visual servoing, this thesis explores a dynamic visual approach and proposes two new visual servoing laws. Lyapunov theory is used first to prove the stability and convergence of the visual closed loop, then to derive a robust adaptive controller for the combined robot-vision dynamics, yielding thus an ultimate uniform bounded solution. Finally, all proposed schemes are validated in simulation and experimentally on the humanoid robot NAO.
Moretti, 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.
Повний текст джерелаDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
Made available in DSpace on 2018-08-16T10:12:15Z (GMT). No. of bitstreams: 1 Moretti_Mariana_M.pdf: 12180551 bytes, checksum: 7061efe63e86e5ba1b21c21253c1ee35 (MD5) Previous issue date: 2010
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
Gagne-Roussel, Dave. "Vision-based navigation and control of a robotic vehicle." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27361.
Повний текст джерелаThomson, Travis. "Kinematic control and posture optimization of a redundantly actuated quadruped robot." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106317.
Повний текст джерелаIl y a déjà plusieurs années que les robots à locomotion articulée font sujets de maintes études, la recherche visant la locomotion articulée sur roues, par contre, est beaucoup plus récente. Les robots de ce type peuvent bénéficier de l'efficacité énergétique de la locomotion articulée sur roues tout en s'adaptant à des environnements plus difficiles par l'utilisation de la locomotion articulée lorsque nécessaire. Le toolkit micro-hydraulique (Micro Hydraulic Toolkit (MHT)), conçu par des ingénieurs au Recherche et développement pour la défense Canada (RDDC), est un bon exemple d'un tel robot. MHT est un robot quadrupède hybride autonome composé de pattes articulées hydrauliques et de roues électriques. La recherche ciblant les mécanismes de control du MHT mène à une meilleure compréhension du control nécessaire pour l'exploration et la reconnaissance que font les véhicules terrestres. La méthodologie employer pour ce travail utilise la vélocité cinématique du toolkit micro-hydraulique pour déterminer la proportion des articulations pour les positions voulues et les trajectoires émises. Cette thèse revisera la formulation des commandes cinématiques et des résultats obtenus par l'entremise de co-simulations utilisant Matlab's Simulink et le modèle haute-fidélité de MHT dans LMS Virtual Lab.
Salerno, Alessio. "Design, dynamics and control of a fast two-wheeled quasiholonomic robot." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102722.
Повний текст джерелаA nonholonomic robotic mechanical system that can be rendered quasiholonomic by control is termed, in this thesis, quasiholonomic. This is the case of Quasimoro.
This work proposes a model-based design methodology for wheeled mobile robots, intended to decrease the development costs, under which the prototype is built only when the system requirements are fully met. Following this methodology, the proposed robot is then designed and prototyped.
The conceptual design of the robot is undertaken by means of a detailed analysis of the most suitable drive systems and their layout. The mathematical model of the robot is formulated in the framework of the Lagrange formalism, by resorting to the concept of holonomy matrix, while the controllability analysis is conducted using modern tools from geometric control.
The embodiment design entails the simulation of three virtual prototypes aimed at further simplifying the robot control. To this end, a robot drive system, based on the use of a timing belt transmission and a bicycle wheel, is designed, calibrated and tested. Due to Quasimoro's drive system, the stabilization of the intermediate body, a well-known challenge in two-wheeled mobile robot control, is achieved without the use of additional mechanical stabilizers---such as casters---or of sensors---such as gyros.
The intended application of the proposed robot is the augmentation of wheelchair users, a field that tremendously benefits from the cost-effectiveness and control simplification of the system at hand. For purposes of validation, a full-scale proof-of-concept prototype of the robot is realized. Moreover, the robot functionality is demonstrated by means of motion control experiments.
Black, William S. "Adaptive nonlinear control for autonomous ground vehicles." Thesis, Purdue University, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1553492.
Повний текст джерелаWe present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design nonlinear disturbance observers for both single-input-single-output and multi-input-multi-output systems. Finally, we show the performance of these observers with simulation results.
Cook, Joshua. "Experiments in robot formation control with an emphasis on decentralized control algorithms." Thesis, Kansas State University, 2011. http://hdl.handle.net/2097/8445.
Повний текст джерелаDepartment of Mechanical and Nuclear Engineering
Guoqiang Hu
In this thesis, several algorithms and experiments involving the control of robot formations are presented. The algorithms used were focused on decentralized control. The experiments were implemented on two different experimental testbeds consisting of teams of wheeled mobile robots. The robots used are described along with their sensors and supporting hardware. Also, there is a discussion of the programming framework used to build the control software. The first control algorithm and experiment uses a robust consensus tracking algorithm to control a formation of robots to track a desired trajectory. The robots must maintain the correct formation shape while the formation follows the trajectory. This task is complicated by limited communication between the robots, and disturbances applied to the information exchange. Additionally, only a subset of the robots have access to the reference trajectory. In the second experiment, the same algorithm was re-implemented in a decentralized way, which more effectively demonstrated the goals of the algorithm. The second algorithm involves controlling a formation of robots without a global reference frame. In order to accomplish this, the formation description is reformulated into variables describing the relative positions of the robots, and vision-based measurements are used for control. A homography-based technique is used to determine the relative positions of the robots using a single camera. Then a consensus tracking controller similar to the one used previously is used to distribute the measured information to all of the robots. This is done despite the fact that different parts of the information are measured by different agents.
Tyrell, Nathan S. "Attitude control via structural vibration : an application of compliant robotics." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111922.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (pages 109-113).
We review and present techniques for effecting and controlling the reorientation of structures "floating" in angular-momentum-conserving environments, applicable to both space robotics and small satellite attitude control. Conventional orientation control methods require either the usage of continuously rotating structures (e.g. momentum wheels) or the jettisoning of system mass (e.g. hydrazine thrusters). However, the systems proposed herein require neither rotating structures nor mass ejection; instead, orientation is controlled by the imposition of a bounded cyclic shape change-the canonical example of such a system is a cat righting herself while falling, thereby always landing on her feet-coupled with the conservation of angular momentum, which acts analogously to a nonholonomic constraint on the system dynamics. Further, by considering the reduced system dynamics, we extend the concept to consider the class of structures where the requisite cyclic shape change is attainable via dynamical effects, such as the normal modes of structural vibration for structures with finite stiffness. This is the central novel result of this thesis and has implications for the design of space structures where the attitude control hardware is integrated directly into the preexisting structure, the development of orientation control techniques for soft robots in space and underwater, and the design of MEMS attitude control actuators for very tiny satellites. We apply mathematical tools drawn from differential geometry and geometric mechanics, which can be intimidating but which provide a comprehensive and powerful framework for understanding a wide range of locomotion problems fundamental to robotics and control theory. These tools allow us to make succinct statements regarding gait design, controllability, and optimality that would be otherwise inaccessible.
by Nathan S. Tyrell.
S.M.
Barto, Taylor. "Design and Control of Electronic Motor Drives for Regenerative Robotics." Cleveland State University / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=csu150396313057516.
Повний текст джерелаEllsberry, Andrew John. "Development and evaluation of a flexible distributed robot control architecture." Thesis, University of Maryland, College Park, 2013. http://pqdtopen.proquest.com/#viewpdf?dispub=1541595.
Повний текст джерелаThe communications and electronic systems that comprise a distributed control architecture for a robotic manipulator tie the high level control and motion planning to the electromechanical components. Custom solutions to this problem can be expensive in terms of time, cost, and maintenance. The integration of commercial off the shelf (COTS) motion controllers, combined with a robust communication standard, offers the potential to reduce the costs and development times for new robots. This thesis demonstrates an implementation of this architecture using commercial controllers and the CANopen communications bus on two existing dexterous robots. Testing is conducted to quantify the single joint performance of these modules. Additionally, the implementation of the system on a second robot arm was conducted in order to test the flexibility of the system for use with different actuators and feedback.
Adam, Seán P. (Seán Patrick). "A distributed control network for a mobile robotics platform." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/41376.
Повний текст джерелаJulian, Brian John. "Mutual information-based gradient-ascent control for distributed robotics." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/84889.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (pages 167-179).
This thesis presents the derivation, analysis, and implementation of a novel class of decentralized mutual information-based gradient-ascent controllers that continuously move robots equipped with sensors to better observe their environment. We begin with the fundamental problem of deploying a single ground robot equipped with a range sensor and tasked to build an occupancy grid map. The desired explorative behaviors of the robot for occupancy grid mapping highlight the correlation between the information content and the spatial realization of the robot's range measurements. We prove that any occupancy grid controller tasked to maximize a mutual information reward function is eventually attracted to unexplored space, i.e., areas of highest uncertainty. We show that mutual information encodes geometric relationships that are fundamental to robot control and yields geometrically relevant reward surfaces on which robots can navigate. Taking inspiration from geometric-based approaches to distributed robot coordination, we show that many multi-robot inference tasks can be cast in terms of an optimization problem. This optimization problem defines the task of minimizing the conditional entropy associated with the robots' inferred beliefs of the environment, which is equivalent to maximizing the mutual information between the environment state and the robots' next joint observation. Given simple robot dynamics and few probabilistic assumptions, none of which involve Gaussianity, we derive a gradientascent solution approach to these optimization problems that is convergent between sensor observations and locally optimal. More formally, we invoke LaSalle's Invariance Principle to prove that, given enough time between consecutive joint observations, robots following the gradient of mutual information will converge to goal positions that locally maximize the expected information gain resulting from the next observation. We show that the algorithmic implementation of the generalized gradient-ascent controller is not readily distributed among multiple robots, and thus sample-based methods are introduced to distributively approximate the likelihoods of the robots' joint observations. Not only are the involved non-parametric representations compatible with any type of Bayesian filter, but the computational complexities of the resulting decentralized controllers are independent with respect to the number of robots. Concerning the distributed approximations, we give two example consensus-based algorithms that run on an undirected network graph. The first consensus-based algorithm approximates discrete measurement probabilities, while the second approximates continuous likelihood distributions. We show that these anytime approximations provably converge to the correct values on a static and connected network graph without knowledge of the number of robots in the network or the corresponding graph's topology. Lastly, we incorporate the resulting consensus-based algorithms into both a hardware system and a simulation environment to allow for decentralized controller evaluation under non-ideal network settings. For the hardware experiments, the task is to infer the state of a bounded, planar environment by deploying five quadrotor flying robots with simulated sensors in both indoor and outdoor settings. For the numerical simulations, Monte Carlo-based analyses are performed for 100 robots, where each robot is simulated on an independent computer node within a computer cluster system. Simulations are also performed for 1000 robots using a single workstation computer equipped with a multicore GPU-enabled graphics card. The results from both the hardware experiments and numerical simulations validate our theoretical and computational claims throughout the thesis.
by Brian John Julian.
Ph.D.
Mouzakitis, Alexandros. "Hybrid control architecture for navigation of autonomous mobile robots." Thesis, University of South Wales, 2002. https://pure.southwales.ac.uk/en/studentthesis/hybrid-control-architecture-for-navigation-of-autonomous-mobile-robots(3b3f0e2d-42f9-4bdc-b55e-b5c4cbed937f).html.
Повний текст джерелаBalajepalli, Surag. "Modeling, Analysis, And Experiments On A Robot Arm With Force-Feedback Interaction Control." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1584747100953551.
Повний текст джерелаQudsi, Yasmeen. "Design and Control of Compliant Lower Legs for Insectoid Robots." Thesis, University of Louisiana at Lafayette, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10163346.
Повний текст джерелаCompliance in legged robotics has recently become favored over rigid leg members. The energy cost associated with rigid legged walking is high, and speeds are typically decreased with terrain changes. The use of compliant legs can provide stable walking while enabling higher maximum speeds.
Inspired by biological principals in insectoid locomotion, a physical model for energy efficient limb design was explored. A compliant leg structure was designed and replaced the rigid leg members of an insectoid robot. Velocity and ground reaction force data was gathered for both rigid and compliant lower leg members at various stiffness values for ideal and complex terrain.
Furthermore, a command was designed to maximize walking speeds. Design parameters of stiffness, command duration, and command spacing are selected. The designed command, combining the optimal value of the design parameters, produced an increased stance departure velocity value and can be implemented in insectoid robots with compliant legs.
Odelade, Mobolaji. "P300 Control Matrix| A Novel Approach to P300 Speller Matrix." Thesis, North Carolina Agricultural and Technical State University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10976563.
Повний текст джерелаOver the years, researchers have been able to prove Brain Computer Interface (BCI) -P300 Speller as an effective communication tool. The first P300 speller was developed by Farwell and Donchin (1988), using the oddball paradigm to evoke a P300 response from a speller matrix. This P300 speller matrix has been a strong basis for studies that aimed at using BCI-P300 protocol for spelling, cursor movement, internet navigation or even control and manipulation of devices. However, application of P300 based BCI to controlling and manipulation of devices often involves the user relating with multiple interfaces. These multiple interfaces could be a distraction or have negative effects on the user (Fazel-Rezai et al. 2012) and as a consequence hinders the evoking of P300 potential and causing inaccurate classification. For this research, a novel P300 control matrix is developed by replacing the alphabets in the traditional P300 speller matrix with arrow images. Then the novel P300 control matrix was investigated to compare the P300 latency and amplitude to that of the traditional P300 speller matrix. The elements in the novel P300 control matrix were in form of arrows facing upward, left, right and downward directions, while elements in the P300 speller matrix were alphabets U, L, R and D for the upward, left, right and downward directions respectively. The participants were presented with a set of randomly sequenced directions, and each participant decides which of the arrows or letters to focus on based on the direction presented to them. Electroencephalography (EEG) was used to record the brainwaves using the international 10-20 system of electrode placement. This research is potentially a more efficient approach for controlling devices using P300-based BCI systems by eradicating the need for multiple interfaces associated with BCI-robotic control systems that are based on P300 speller.
Klein, Joseph G. "Control Design and Implementation of an Active Transtibial Prosthesis." Thesis, Marquette University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10839035.
Повний текст джерелаPrior work at Marquette University developed the Marquette Prosthesis, an active transtibial prosthesis that utilized a torsional spring and a four-bar mechanism. The controls for the Marquette Prosthesis implemented a finite state control algorithm to determine the state of gait of the amputee along with two lower level controllers, a PI moment controller to control the moment during stance and a PID position controller to control the position during stance. The Marquette Prosthesis was successful in mimicking the gait profile presented by Winter. However, after completing human subject testing, the Marquette Prosthesis was insufficient in trying to match the gait profile of those who varied from this textbook stride.
Active transtibial prostheses typically apply finite state control algorithms that struggle with cadence and gait variability of the amputee. Recent work in artificial neural networks (ANN) have shown the possibility to predict the user's intent which can be used as an input signal in an improved controller. The Marquette Prosthesis II was developed that uses a stiffness controller to control the relationship between the position and torque of the ankle. A model of the improved Marquette Prosthesis II was developed in Simulink to ensure that the stiffness controller was robust enough and that this type of control was possible with the limitations of the Marquette Prosthesis, i.e., the link lengths, torsional spring and motor. The mechanical system of the Marquette Prosthesis was then changed such that the spring was in series between the motor and four-bar mechanism to establish a relationship between the motor position, torque of the spring and four-bar mechanism. The control hardware was selected and the stiffness controller was implemented on the Marquette Prosthesis II. The Marquette Prosthesis II control algorithm was tested and validated to show that this approach is feasible.
Abdul-hadi, Omar. "Machine Learning Applications to Robot Control." Thesis, University of California, Berkeley, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10817183.
Повний текст джерелаControl of robot manipulators can be greatly improved with the use of velocity and torque feedforward control. However, the effectiveness of feedforward control greatly relies on the accuracy of the model. In this study, kinematics and dynamics analysis is performed on a six axis arm, a Delta2 robot, and a Delta3 robot. Velocity feedforward calculation is performed using the traditional means of using the kinematics solution for velocity. However, a neural network is used to model the torque feedforward equations. For each of these mechanisms, we first solve the forward and inverse kinematics transformations. We then derive a dynamic model. Later, unlike traditional methods of obtaining the dynamics parameters of the dynamics model, the dynamics model is used to infer dependencies between the input and output variables for neural network torque estimation. The neural network is trained with joint positions, velocities, and accelerations as inputs, and joint torques as outputs. After training is complete, the neural network is used to estimate the feedforward torque effort. Additionally, an investigation is done on the use of neural networks for deriving the inverse kinematics solution of a six axis arm. Although the neural network demonstrated outstanding ability to model complex mathematical equations, the inverse kinematics solution was not accurate enough for practical use.