Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications

This thesis describes the creation of a process to quickly and efficiently construct new applications using PAPRAS. PAPRAS is a Plug-And-Play Robotic Arm System developed in KIMLAB (Kinetic Intelligent Machine LAB), and can be used for many different tasks in various environments. The development of this process includes designing printed circuit boards to simplify the hardware setup of new applications. A software pipeline is also designed to create all the necessary files for a new application to run on the PAPRAS framework. With these components, the entire process to create a new application is detailed. The process is validated through the rapid development of several applications. These applications range from one-arm to four-arm setups and include both static environments and mobile environments using a mobile platform. The process described here is generalizable to any desired application of the PAPRAS system.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2022

Author dc:creator

• Mathur, Dhruv Chandra

Contributors dc:contributor

• Kim, Joohyung

• robotic system integration
• modular robot
• robotic manipulator
• mobile manipulator

Statement dc:rights

• Copyright 2022 Dhruv Chandra Mathur

Language dc:language

en, eng

Handle dc:identifier

https://hdl.handle.net/2142/121183

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F121183