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Implementation Of Robot Arm Networks And Experimental Analysis Of Consensus-Based Collective Motion, Daniel Scott Stuart
Implementation Of Robot Arm Networks And Experimental Analysis Of Consensus-Based Collective Motion, Daniel Scott Stuart
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Within the field of multi-robot control, there is a large focus in research involving consensus. In this thesis two parts will be studied. The first development of this thesis is a consensus-based robot arm platform. To implement, two robotic arms are developed and studied. The most effective robot arm is then utilized to create a robot arm network testbed. Consensus is used to coordinate several robot arms and decentralize system computation. The research explores a platform to facilitate consensus on a group of robotic arms.
The second development is in Cartesian coordinate collective motion. This collective motion control combines consensus …