Instrumented tools and objects : design, algorithms, and applications to assembly tasks

We developed an instrumented tool system comprised of wireless nodes and sensor systems to facilitate distributed robotic assembly tasks. This robotic system was deployed on two separate robotic assembly scenarios: one scenario used programmable autonomous beacons to facilitate precise localization of an assembly robot within a mock airplane wing, while the second used programmable assembly components to simplify sensing and coordination in a distributed, multi-robot assembly task. An instrumented tool system comprised of two types of programmable nodes (beacons and assembly components) and two types of robot-mounted sensors was designed, implemented, and tested. On-board microprocessors allow each element of the system to perform sensing and communicate over an infrared communication protocol. Algorithms for sensing and distributed communication were developed to perform local sensing tasks between assembly robots and instrumented materials.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2011

Author dc:creator

• Faulkner, Matthew N

Advisor dc:contributor.advisor

• Daniela Rus.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/62753

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/62753