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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 36 for “"robotic assembly"”.
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Robotic Assembly and Contact Force Control
… One example of a challenging application is assembly, which is hard to accomplish using only position controlled robots. By adding a force sensor to the system, it gives the robot ability to correct for uncertainties by measuring contacts. This thesis presents a framework for force controlled …
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Characterization of on-orbit robotic assembly
On-orbit assembly missions typically involve humans-in-the-loop and use large custom-built robotic arms designed to service existing modules. The concept of on-orbit robotic assembly of modularized CubeSat components supports use cases such as rapidly placing failed nodes within a constellation of …
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COMPLIANT END-EFFECTOR COUPLING FOR ROBOTIC ASSEMBLY
… and tasks associated with touch or feel in fine assembly. Few compliance related tasks have been automated and is usually by means of active compliance control. The need for passive compliance offered by the manipulator itself has been recognised and has led to the development of compliant …
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Constraint-aware distributed robotic assembly and disassembly
In this work, we present a distributed robotic system capable of the efficient assembly and disassembly of complex three-dimensional structures. We introduce algorithms for equitable partitioning of work across robots and for the efficient ordering of assembly or disassembly tasks while taking …
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Algorithmic planning for robotic assembly of building structures
… positioning, and holding elements precisely, robotic assembly aims to neutralize the cost and time impact of increasing demand for non-standard, customized designs using programmable robotics and automated process. Programming robots to assemble structures requires us to reason about the …
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Contact interpretation in randomized strategies for robotic assembly
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1997.
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Progressive learning and its application to robotic assembly
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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On Robotic Assembly using Contact Force Control and Estimation
… with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task …
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Analysis for robotic assembly of large flexible space structures
… for their construction in space, leaving robotic assembly as the only viable option. The focus of the current work is to identify potential challenges to the large structure assembly process in space and develop methods to address them. One of the major causes of failure in the assembly …
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A variable compliance controller for cooperative vision guided robotic assembly
… contact states between the peg and hole during assembly. Typically, a position or force controlled robotic insertion system is fitted with a specialized mechanically compliant wrist, known as a remote center compliance (RCC) device, to allow the system to accommodate the forces. Using design …
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Automated motion planning for robotic assembly of discrete architectural structures
Architectural robotics has proven a promising technique for assembling non-standard configurations of building components at the scale of the built environment, complementing the earlier revolution in generative digital design. However, despite the advantages of dexterity and precision, the time …
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A discrete event dynamic systems approach to robotic assembly tasks
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1992.
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Flight hardware development for a space-based robotic assembly and servicing testbed
Robotic assembly and servicing missions in space are becoming increasingly attractive for their potential to expand space capabilities and save money. Future missions may construct large systems on-orbit, service existing space assets, or remove retired satellites from valuable locations in the …
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Artificial intelligence applications in teleoperated robotic assembly of the EASE space structure
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
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Robots Making Satellites: Advancing In-Space Manufacturing Through On-Orbit Robotic Assembly
On-orbit robotic assembly is a critical and necessary advancement for in-space manufacturing. On-orbit assembly missions typically involve humans-in-the-loop and use large custom-built robots to service existing modules. Introducing modularized small satellites (SmallSats) for use cases such as …
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Development of Structures and Methods for Safe On Orbit Robotic Assembly of Small Satellites
… imaging. A solution can be found in on-orbit assembly. By flat packing a large quantity of snap-fit compatible boards for a plurality of CubeSats and assembling them on-orbit, time from conception to operation can be significantly lowered. Crucial to on-orbit robotic assembly is the design of …
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Probabilistic and learning approaches through concurrent parameter estimation and adaptive control for in-space robotic assembly
… space operations within the context of in-space robotic servicing, assembly, and debris removal have received particular attention from both research and industry communities. The presence of uncertainties and unknown system parameters amongst these missions is prevalent, as they primarily deal …
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