Open Access. Powered by Scholars. Published by Universities.®

Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Electrical and Computer Engineering

Theses/Dissertations

2009

Robotics

Articles 1 - 2 of 2

Full-Text Articles in Engineering

The Development Of A Mechatronics And Material Handling Course: Laboratory Experiments And Projects, James Shirley Dec 2009

The Development Of A Mechatronics And Material Handling Course: Laboratory Experiments And Projects, James Shirley

All Theses

Mechatronic systems integrate technologies from a variety of engineering disciplines to create solutions to challenging industrial problems. The material handling industry utilizes mechatronics to move, track, and manipulate items in factories and distribution centers. Material handling systems, because of their use of programmable logic controllers (PLC), PLC networks, industrial robotics, and other mechatronic elements, are a natural choice for a college instructional environment. This thesis offers insight and guidance for mechatronic activities introduced in a laboratory setting. A series of eight laboratory experiments have been created to introduce PLCs, robotics, electric circuits, and data acquisition fundamentals. In-depth case studies synthesize …


Robotics Control Using Active Disturbance Rejection Control, Ousama Said Khairallah Jan 2009

Robotics Control Using Active Disturbance Rejection Control, Ousama Said Khairallah

ETD Archive

Conventional robotics control has been set in stone since the sixties. The world has been waiting too long for a new age of control to change the world of Robotics. Active Disturbance Rejection Control (ADRC) is a newly reformed Control methodology. It has been used, in very limited applications, as a replacement for PID control. In this thesis, I will cover the different aspects of the kinematics and dynamics of a robotic manipulator. I will also examine the feasibility of using ADRC to control a robotic manipulator. To explain ADRC, a simple example that demonstrates the concepts and theory of …