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 20 of 67 for “"robot arm"”.
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Robot arm control exploiting natural dynamics
This thesis presents an approach to robot arm control exploiting natural dynamics. The approach consists of using a compliant arm whose joints are controlled with simple non-linear oscillators. The arm has special actuators which makes it robust to collisions and gives it a smooth compliant motion. …
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An improved controller for the Rhino robot arm
The study of robotics cannot be satisfactorily pursued without access to working robots. The inexpensive Rhino robot arm is one that academic institutions can easily obtain for educational purposes. This thesis presents a new controller that replaces the original Rhino controller, which in many …
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Characterization of a robot arm for use in acoustic experiments
In this thesis, I characterized the motion of a robot arm, which is used to position a speaker in an echoic room at a distance of 1m around a subject's head under computer control. I also made some initial measurements of the acoustic transfer function from the speaker on the robot arm to a …
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An analysis on controlling humanoid robot arm using Robot Operating System (ROS)
Humanoid robots are extensively discussed in modern days. The movement task and manipulation of Humanoid Robots is examined based on mobility of platforms and control of the arm. This project describes a robotic arm that is analogous to an arm of a human being. Some important parameters to be …
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Investigating how the morphology of a robot arm affects the learnability of aimed throwing
… the relationship between the hand design on a robot arm and the learnability of aimed throwing. Aimed throwing is selected as the task because of its importance as a milestone in human evolution, as well as being a task with an unambiguous outcome. The process of designing and building the arm, …
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Design and control of a voice coil actuated robot arm for human-robot interaction
The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic …
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The Triple Scissor Extender Robot Arm : solving the last one foot problem in robotic manipulation
… and industrial equipment often requires a robot to reach confined areas that are difficult to access. While a robot can move freely in open space, the last one foot to a target site in a manufacturing environment is often cluttered with complex obstacles. Here we present a novel solution to …
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Autonomous Cricothyroid Membrane Detection and Manipulation using Neural Networks and Robot Arm for First-Aid Airway Management
… techniques on human keypoint detection and robot arm manipulation. Inspired by Semi-Autonomous Victim Extraction Robot (SAVER), an autonomous first-aid airway-management robotic system designed to perform Cricothyrotomy on patients is proposed. Perception, decision-making, and control are …
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An automatic traffic cones dispenser and collector system
… the traffic cones by using manipulator which is robot arm. The development of the robot arm which is five degree of freedom is the most important part in this project in order to make this system become an automatic system. A microcontroller PIC18F46K22 is used as the brain part of the robot arm …
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Modelling and control of articulated robotic arm
… of the task will not be up to the standard. A robot that can imitate human movement could be introduce in order to reduce human error in doing a repetitive task. But, to design a robot that could impersonate human movement is not that easy. Designer need to try and re-try their design before …
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Reverse engineering of micro light aircraft systems and design
… of the task will not be up to the standard. A robot that can imitate human movement could be introduce in order to reduce human error in doing a repetitive task. But, to design a robot that could impersonate human movement is not that easy. Designer need to try and re-try their design before …
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System identification of a hydraulically-actuated robot
… system has been developed to operate an elastic robot arm. This work was funded by a grant from the U.S. Army Research Office. The goal of this investigation was to experimentally determine the operating curves, performance plots, and flow coefficients needed to produce an appropriate servovalve …
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Multi-Objective Bilevel Bayesian optimization for robot and behavior co-design
Traditionally, the robot design process is based on the trial-and-error approach that involves repeated cycles of design, prototyping, and evaluation. During the process, the robot designer should tackle multiple objectives, which are commonly in conflicting relationships. Furthermore, the robot …
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Semi-autonomous Magnetic Manipulation for Endovascular Navigation
… a platform for magnetic manipulation, a single robot arm equipped with a permanent magnet has advantages over other magnetic field generators in terms of their footprint and cost. However, the manipulation of the permanent magnet attached to the end of the robot arm is not a trivial task. During …
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Design of a Teleoperated Rock Sampling System
… dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common …
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A system to explore using a collaborative robot in improvisational dance practice
… to explore the use of a UR10 collaborative robot arm in the context of improvisational dance. A LaunchPad Pro midi interface was used with it to enable multiple positions, and sequences of positions to be quickly and simply recorded from physical manipulation of the robot arm. An end …
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Modeling and controls for a laser glass cutting machine workcell robot
The SCARA (Selective Compliance Assembly Robot Arm)-Type Nimbl loader junior robot includes a four-degree of freedom robot manipulator arm. This thesis deals with three main areas of robot behavior: kinematics, dynamics and controls for the purpose of improving the performance of the Laser Glass …
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Neural networks for signal processing and control
Neural networks are developed for controlling a robot-arm and camera system and for processing images. The networks are based upon computational schemes that may be found in the brain.
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Influence of spatial orientation and spatial visualization abilities on space teleoperation performance
… the workspace, and ensure clearances between the robot arm and obstacles. We believe that these individual differences correlate with two known subcomponents of spatial intelligence: perspective-taking (PT) and spatial visualization (SV). A preliminary study [1] supports this hypothesis. We …
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Development of an Intelligent Robotic Manipulator
… and nuclear waste stores leads to the use of robots and more specifically manipulators in unmanned spaces. Rapid and accurate performance of robotic arm movement and positioning, coupled with a reliable manipulator gripping mechanism for variable orientation and a range of deformable and/or …
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