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A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics, Charles Sullivan
A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics, Charles Sullivan
Open Access Theses & Dissertations
Soft robotics is a growing field in robotics research. Heavily inspired by biological systems, these robots are made of softer, non-linear, materials such as elastomers and are actuated using several novel methods, from fluidic actuation channels to shape changing materials such as electro-active polymers. Highly non-linear materials make modeling difficult, and sensors are still an area of active research. These issues have rendered typical control and modeling techniques often inadequate for soft robotics. Reinforcement learning is a branch of machine learning that focuses on model-less control by mapping states to actions that maximize a specific reward signal. Reinforcement learning has …
Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.
Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.
Open Access Theses & Dissertations
Since the rise of additive manufacturing (AM), innovation has been at the forefront. Additive Manufacturing systems that incorporate complex processes are steadily being developed. One example is the Multi3D System, which was designed to integrate the ability to print multi-material parts with that of embedding electronics. To achieve this automated process, the Multi3D incorporates a six-axis robotic arm to transfer a build platform containing a printed part, to various manufacturing stations (two fused deposition modeling (Stratasys, FDM400mc) systems and a computer numerical control router (Techno CNC Router). The robot is a Yaskawa Motoman MH50 chosen for its payload capacity of …