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Full-Text Articles in Engineering
Nonlinear Estimation And Control For Assistive Robots, Zhao Wang
Nonlinear Estimation And Control For Assistive Robots, Zhao Wang
Electronic Theses and Dissertations
In this thesis, we document the progress in the estimation and control design of a smart assistive robot arm that can provide assistance during activities of daily living to the elderly and/or users with disabilities. Interaction with the environment is made challenging by the kinematic uncertainty in the robot, imperfect sensor calibration, limited view of angle as well as the fact that most activities of daily living are generally required to be performed in unstructured environments. For monocular visual systems, range (or depth) information is always crucial for target modeling and system control design. In the first part of my …
A Virtual Reality Visualization Ofan Analytical Solution Tomobile Robot Trajectory Generationin The Presence Of Moving Obstacles, Ricardo Elias
A Virtual Reality Visualization Ofan Analytical Solution Tomobile Robot Trajectory Generationin The Presence Of Moving Obstacles, Ricardo Elias
Electronic Theses and Dissertations
Virtual visualization of mobile robot analytical trajectories while avoiding moving obstacles is presented in this thesis as a very helpful technique to properly display and communicate simulation results. Analytical solutions to the path planning problem of mobile robots in the presence of obstacles and a dynamically changing environment have been presented in the current robotics and controls literature. These techniques have been demonstrated using two-dimensional graphical representation of simulation results. In this thesis, the analytical solution published by Dr. Zhihua Qu in December 2004 is used and simulated using a virtual visualization tool called VRML.
Autonomous Robotic Automation Systemwith Vision Feedback, Jeffery Rosino
Autonomous Robotic Automation Systemwith Vision Feedback, Jeffery Rosino
Electronic Theses and Dissertations
In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and …