Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 13 of 13 for “"mobile manipulator"”.
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Novel tele-operation of mobile-manipulator systems
… algorithm for the simplified tele-operation of mobile-manipulator systems is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators, systems comprised of a robotic arm mounted on a mobile base. Unlike other approaches, the mobile-manipulator system …
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Haptic teleoperation of mobile manipulator systems using virtual fixtures.
In order to make the task of controlling Mobile-Manipulator Systems (MMS) simpler, a novel command strategy that uses a single joystick is presented to replace the existing paradigm of using multiple joysticks. To improve efficiency and accuracy, virtual fixtures were implemented with the use of a …
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Implementation of Semantic SLAM on a Mobile Manipulator System
… successfully performed by stationary robotic manipulators paired with visual perception systems. However, accomplishing more complex, varied, and spatially distributed tasks in real-world home environments requires a mobile platform with a more human-like form factor. These tasks demand …
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Opening cabinets and drawers in the real world using a commodity mobile manipulator
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
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Conception of a flexible workpiece carrier to enable automated activities during transportation using a mobile manipulator
… ensuring optimal use of time and equipment. Mobile manipulators, which combine an autonomous mobile robot with a collaborative robot, have emerged as promising solutions for integrating transport and manipulation in a single system. However, existing studies and industrial implementations …
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Adaptive control of a DDMR with a Robotic Arm
… can be overcome by making the robotic arm mobile. Such robots, which comprise a robotic manipulator installed on a wheeled mobile platform, are called mobile robots. A mobile manipulator can attain a position in space which a robotic arm with fixed base may not be able to reach otherwise. …
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Generating Expected-Time Efficient Trajectories for Rapidly Finding an Object in Known Environments
… version, the robot is no longer a point but a mobile manipulator moving in a 3-D environment. The proposed solution builds on previous results and also introduces a sample-based convex cover to estimate the size and shape of visibility regions in 3-D. The resulting convex regions are exploited …
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Development of an end-effector system for autonomous spraying applications and radiation surveying
… thesis is part of a joint project known as the Mobile Autonomous Scanning and Shotcreting (MASS) robot that is currently under development at the University of Ontario Institute of Technology in cooperation with Cameco Corporation. The MASS robot is a mobile manipulator system capable of …
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Developing a mobile manipulation system to handle unknown and unstructured objects
… robots demands high-autonomy and intelligent mobile-manipulators. The goal of the thesis is to develop an autonomous mobile robotic manipulation system that can handle unknown and unstructured objects with the least training and human involvement. First, an end-to-end vision-based mobile …
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Multistage Localization for High Precision Mobile Manipulation Tasks
… approach for an autonomous industrial mobile manipulator (AIMM). This approach allows tasks with an operational scope outside the range of the robot's manipulator to be completed without having to recalibrate the position of the end-effector each time the robot's mobile base moves to …
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Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces
An approach to improving worker safety in underground uranium drift mining through automating the radiation scanning and shotcrete application process is presented. Utilizing the Robot Operating System (ROS) framework to achieve autonomous operation, workers can be removed from the most hazardous …
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Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2024-08-01
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Force Feedback for Reliable Robotic Door Opening
… still a hard problem in robotics. Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the …