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Dissertations / Theses on the topic 'Control cinemático de robots'

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Published: 4 June 2021
Last updated: 6 February 2022

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1

Gracia, Calandin Luis Ignacio. "Modelado cinemático y control de robots móviles con ruedas." Doctoral thesis, Universitat Politècnica de València, 2008. http://hdl.handle.net/10251/1840.

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La presente tesis doctoral aborda el modelado cinemático y control de robots móviles con ruedas. En concreto se profundiza en los siguientes temas: - Se plantea el modelado de una rueda genérica que incluye todos los tipos comunes: fija, orientable centrada, orientable descentrada (castor) y sueca (también denominada universal, Mecanum ó Ilon). - Se describe un procedimiento eficiente para generar modelos cinemáticos, basado en el concepto de espacio nulo, el cual se aplica posteriormente a un gran número de tipos de robots móviles. Todos estos modelos son caracterizados en cuanto a su
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2

Rosillo, Guerrero Nuria. "Estudio e implementación de controladores dinámicos de robots industriales en tiempo real." Doctoral thesis, Universitat Politècnica de València, 2009. http://hdl.handle.net/10251/6121.

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El control de robots manipuladores tiene por objeto mejorar la calidad, productividad y funcionalidad de dichos sistemas industriales. Para ello, se hace necesario que el diseño de los métodos de control tengan en cuenta el carácter no lineal de la dinámica de estos sistemas. Por este motivo la presente tesis se centra en el control no lineal de sistemas robotizados, por lo tanto se aborda el modelado dinámico de robots y el desarrollo de controladores dinámicos así como su implementación en entornos de tiempo real. Por una parte, se desarrolla el modelo dinámico de un robot manipulador a par
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Cazalilla, Morenas Jose Ignacio. "Diseño e implementación de un sistema de control de robots mediante la ingeniería del software basada en componentes. Aplicación a un robot paralelo de 3DOF." Doctoral thesis, Universitat Politècnica de València, 2017. http://hdl.handle.net/10251/86222.

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In this thesis, using techniques related to component-based software engineering, a variety of advanced controllers for a parallel robot of 3 degrees of freedom have been developed in a modular way. A novel and a complete application based on all of the above has been implemented as well. Initially, a state of the art is developed both in the software component development and advanced control for parallel manipulators. Subsequently, a methodology for the development of dynamic controllers is presented, as well as more advanced controllers such as adaptive or hybrid. Finally, a complete applic
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4

Arnáez, Braschi Enrique. "Enfoque práctico de la teoría de robots. Con aplicaciones en Matlab [Capítulo 1]." Universidad Peruana de Ciencias Aplicadas (UPC), 2015. http://hdl.handle.net/10757/558803.

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¿Qué entendemos por robot? Primero, debemos comenzar por enfrentar la idea popular que un robot es un androide como los conocidos Terminator, C-3P0 o todos los que tengan alguna forma “humanoide”. En esta publicación, Enrique Arnáez Braschi condensa temas sumamente abstractos, de manera sencilla, sobre la teoría de manipuladores robóticos. Específicamente, explica los temas enfocados en el modelamiento y control de movimiento de robots. Este libro resume, en una forma práctica, estudios, trabajos e investigaciones que el autor ha realizado desde hace más de catorce años para plasmar el enfoque
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5

Pagotti, Ana Paula. "Modelagem cinemática e dinâmica para simulação do controle SDRE de um protótipo de hovercraft." reponame:Repositório Institucional da UFABC, 2017.

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Orientadora: Prof. Dra. Elvira Rafikova<br>Dissertação (mestrado) - Universidade Federal do ABC, Programa de Pós-Graduação em Engenharia Mecânica, 2017.<br>Este projeto aborda a aplicação do controle SDRE (State Dependent Ricatti Equation ¿ Equação de Ricatti Dependente de Estado) para controlar a trajetória de um protótipo de Hovercraft. Um Hovercraft é um veículo anfíbio sustentado por um colchão de ar em sua base, fazendo com que este não entre em contato com a superfície terrestre ou aquática. Inicialmente é feito o estudo da modelagem dinâmica desse sistema sendo que se trata de um veícul
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6

Navarro, Narváez Nadia Pamela. "Modelado cinemático y dinámico de un manipulador de 5 grados de libertad articulado verticalmente." Bachelor's thesis, Pontificia Universidad Católica del Perú, 2011. http://tesis.pucp.edu.pe/repositorio/handle/123456789/924.

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El siguiente tema de tesis corresponde al modelado cinemático y dinámico de un manipulador de 5 grados de libertad articulado verticalmente desarrollado en el Centro de Tecnologías Avanzadas de Manufactura CETAM de la Pontificia Universidad Católica del Perú. Esta tesis forma parte de un proyecto multidisciplinario para el diseño, fabricación y puesta en funcionamiento de un manipulador con las características ya mencionadas. El modelado cinemático consta del desarrollo de la cinemática directa y la cinemática inversa. La cinemática inversa permitirá conocer las coordenadas de cualquier punto
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7

Peinado, Bravo Ángel Agustín César. "Desarrollo de un algoritmo que permita la implementación futura de un software para el análisis cinemático inverso de mecanismos en 3D." Bachelor's thesis, Pontificia Universidad Católica del Perú, 2016. http://tesis.pucp.edu.pe/repositorio/handle/123456789/6606.

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La presente tesis tiene por objetivo la elaboración de un algoritmo para el análisis cinemático inverso de mecanismos en el espacio, el cual abarcar mecanismos clásicos y mecanismos empleados en la actualidad, tales como brazos robóticos. Con el fin de realizar el análisis cinemático de diversos mecanismos usando el mismo algoritmo, se plantea el uso de un método iterativo para la evaluación de las ecuaciones de movimiento. En este proceso se usan los parámetros de Euler como sistema de coordenadas generalizadas, así como la pseudo-inversión para la resolución de la inversión del jacobi
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8

Vaz, Daniel Alves Barbosa de Oliveira. "Planejamento de movimento cinemático-dinâmico para robôs móveis com rodas deslizantes." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-02012012-144022/.

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O planejamento de movimento é um dos problemas fundamentais em navegação autônoma para robôs móveis. Uma vez planejado o caminho, o robô executa o acompanhamento da trajetória, frequentemente, com o auxílio de um controlador em malha fechada. Este controlador tem o objetivo de minimizar os erros de acompanhamento, a fim de que a trajetória executada se aproxime da trajetória planejada. Entretanto a maioria dos planejadores de movimento não levam em consideração o modelo dinâmico do robô, dificultando assim o trabalho do controlador que executa o acompanhamento da trajetória. Incluindo as restr
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9

Figueredo, Luis Felipe da Cruz. "Kinematic control based on dual quaternion algebra and its application to robot manipulators." reponame:Repositório Institucional da UnB, 2016. http://repositorio.unb.br/handle/10482/21834.

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Tese (doutorado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2016.<br>Submitted by Fernanda Percia França (fernandafranca@bce.unb.br) on 2016-09-23T17:09:08Z No. of bitstreams: 1 2016_LuisFelipedaCruzFigueredo.pdf: 42251540 bytes, checksum: bf57843e92b37b40c0684528bcf64a23 (MD5)<br>Approved for entry into archive by Raquel Viana(raquelviana@bce.unb.br) on 2016-11-24T13:58:06Z (GMT) No. of bitstreams: 1 2016_LuisFelipedaCruzFigueredo.pdf: 42251540 bytes, checksum: bf57843e92b37b40c0684528bcf64a23 (MD5)<br>Made available in DSpace on 2016-11-24T13:58:
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Moura, Tiago Gomes. "Development of a dual-arm robotic system for gesture imitation." Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/14405.

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Mestrado em Engenharia de Automação Industrial<br>A investigação dedicada à área de robótica tem vindo a desempenhar um papel fundamental no que diz respeito à interação humano-robot. Esta interação tem evoluído em aspetos como reconhecimento de voz, caminhar, imitação gestual, exploração e trabalho cooperativo. A aprendizagem por imitação traz várias vantagens em relação aos métodos de programação convencionais, pois possibilita a transferência de novas habilidades ao robot através de uma interação mais natural. O trabalho desenvolvido pretende a implementação de um sistema robótico pa
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11

SILBERMAN, JACK ALBERTO. "INTELLIGENT CONTROL OF ROBOTS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1992. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=19775@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO<br>Esta dissertação propõe um exemplo prático de desenvolvimento e integração de um sistema robotizado que dispensa um operador com conhecimentos mais profundos em robótica. A interface com o usuário é amigável, tanto quanto possível. O objetivo ao final do trabalho é ter um sistema que seja capaz de manipular peças mecânicas com um simples comando dado, pela voz do operador do sistema. Para tanto, realiza-se uma integração de diversos sistemas independentes que, colocados para trabalhar em conjunto, irão proporcionar um certo grau de Inteligê
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Sa, Claudio Eduardo Aravechia de. "Implementação de metodos numericos para a resolução do problema cinematico inverso de robos com enfase em controle de posição." [s.n.], 1996. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264956.

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Orientador: João Mauricio Rosario<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-07-21T14:23:07Z (GMT). No. of bitstreams: 1 Sa_ClaudioEduardoAravechiade_M.pdf: 5537569 bytes, checksum: cd4f1828cf7119d7fa7726bf9d8b09d3 (MD5) Previous issue date: 1996<br>Resumo: Um robô industrial pode ser modelado como uma cadeia articulada com diversos corpos rígidos conectados por juntas de revolução ou prismáticas que são movimentadas por atuadores. A partir de um dado conjunto de ângulos ou deslocamentos e da geometria d
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13

Habibi, Saeid Reza. "Multivariable control of industrial robots." Thesis, University of Cambridge, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358353.

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14

Shifman, Jeffrey Joseph. "The control of flexible robots." Thesis, University of Cambridge, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.385838.

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15

Zhu, Minglei. "Control-based design of Robots." Thesis, Ecole centrale de Nantes, 2020. http://www.theses.fr/2020ECDN0043.

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Il est bien connu que les robots parallèles ont de nombreuses applications dans l ’industrie. Cependant, en raison de leur structure complexe, leur contrôle peut être difficile. Lorsqu'une précision élevée est nécessaire , un modèle complet du robot détaillé est nécessaire . Les approches de contrôle référencées capteurs se sont avérées plus efficaces , en termes de précision que les contrôleurs basés modèles puisqu'elles s’affranchissent des modèles de robots complexes et des erreurs de modélisation associées. Néanmoins, lors de l'application de d’un asservissement visuel , il y a toujours de
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Taha, Z. "Dynamics and control of robots." Thesis, Cardiff University, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.376559.

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17

Potts, Alain Segundo. "Modelagem e controle ótimo de um robô quadrúpede." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/3/3139/tde-07032012-135641/.

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O presente trabalho visa à modelagem e ao controle ótimo de um robô quadrúpede autônomo. Devido a variações na topologia e nos graus de liberdade do robô ao longo do seu movimento, duas abordagens diferentes de modelagem foram consideradas: na primeira, foi considerado o robô com pelo menos duas pernas suportando seu corpo ou plataforma e, na segunda, considerou-se o modelo de uma perna no ar. Em ambos os casos, apresentou-se a solução dos problemas cinemáticos de posição direta e inversa por meio da parametrização de Denavit-Hartenberg. Analisaram-se também os problemas cinemáticos de veloc
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18

Magalhães, André Chaves. "Planejamento cinemático-dinâmico de movimento com desvio local de obstáculos utilizando malhas de estados." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-19072013-105251/.

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Planejamento de movimento tem o propósito de determinar quais movimentos o robô deve realizar para que alcance posições ou configurações desejadas no ambiente sem que ocorram colisões com obstáculos. É comum na robótica móvel simplificar o planejamento de movimento representando o robô pelas coordenadas do seu centro e desconsiderando qualquer restrição cinemática e dinâmica de movimento. Entretanto, a maioria dos robôs móveis possuem restrições cinemáticas não-holonômicas, e para algumas tarefas e robôs, é importante considerar tais restrições juntamente com o modelo dinâmico do robô na taref
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Huamán, Loayza Alex Smith. "Desarrollo de una plataforma de simulación y control basado en el modelamiento de un robot articular de cinco grados de libertad para fines académicos." Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2017. http://hdl.handle.net/10757/621948.

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La Escuela de Ingeniería Electrónica de UPC enfrenta la limitada disponibilidad de equipos de robótica, con los cuales los estudiantes puedan desarrollar experiencias en clases y laboratorios para afianzar sus conocimientos con valiosas experiencias prácticas. Ante esta situación, se propone desarrollar una plataforma virtual de simulación y control de robots, la cual mejorará la calidad de enseñanza de los estudiantes brindándoles una mejor comprensión de los temas tratados en el curso de Robótica e Inteligencia Artificial, mediante experiencias prácticas con un robot programable de cinco gra
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20

Reme, Fredrik. "Advanced Remote Control of Industrial Robots." Thesis, Norges Teknisk-Naturvitenskaplige Universitet, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-21086.

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The last few years, the use of industrial robots for tasks such as material handling, welding, painting and assembly, has expanded considerably - also in general industry. A company&#146;s use of robots requires a certain expertise within the field of robotics. To hire in-house experts can be quite costly. Many small and medium sized enterprises (SMEs) consider robots in their productions, but cannot afford employing specialists. The challenge is therefore to find a way for robot system integrators to perform support and knowledge-transfer to the SMEs from the integrator&#146;s location, makin
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Transeth, Aksel Andreas. "Modelling and Control of Snake Robots." Doctoral thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2008. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-2074.

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<p>Snake robots have the potential of contributing vastly in areas such as rescue missions, fire-fighting and maintenance where it may either be too narrow or too dangerous for personnel to operate. This thesis reports novel results within modelling and control of snake robots as steps toward developing snake robots capable of such operations.</p><p>A survey of the various mathematical models and motion patterns for snake robots found in the published literature is presented. Both purely kinematic models and models including dynamics are investigated. More-over, different approaches to both bi
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Maalouf, Elie. "Nonlinear control of wheeled mobile robots." Mémoire, Montréal : École de technologie supérieure, 2005. http://wwwlib.umi.com/cr/etsmtl/fullcit?pMR06031.

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Thèse (M. Ing.)--École de technologie supérieure, Montréal, 2005.<br>"Thesis presented to École de technologie supérieure as a partial requirement to obtain a masters in electrical engineering". Bibliogr.: f. [140]-142. Également disponible en version électronique.
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Rollinson, David S. "Control and Design of Snake Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/427.

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Snake robots are ideally suited to highly confined environments because their small cross-sections and highly redundant kinematics allow them to enter and move through tight spaces with a high degree of dexterity. Despite these theoretical advantages, snake robots also pose a number of practical challenges that have limited their usefulness in the field. These challenges include the need to coordinate a large number of degrees of freedom, decreased system reliability due to the serially chained nature of the robot’s design, and the complex interaction of the robot’s shape with the world. This
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Sharif, Z. A. B. M. "Modelling and control of industrial robots." Thesis, City University London, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356002.

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Reay, Donald S. "Variable structure control of industrial robots." Thesis, University of Cambridge, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257514.

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Varghese, Philip. "Dynamics and control of manipulating robots." Thesis, Virginia Tech, 1987. http://hdl.handle.net/10919/44693.

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<p>Dynamics and Control of manipulating robots currently is a major field of research in robotics. Various methods of efficiently formulating the non-linear dynamics have been proposed with an emphasis on reducing the computations necessary to solve the dynamics. Several control concepts and algorithms have been suggested.<br>Master of Science
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McPhillips, Graeme. "The control of semi-autonomous robots." Master's thesis, University of Cape Town, 2004. http://hdl.handle.net/11427/15417.

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Includes bibliographical references.<br>Robotic soccer is an international area of research which involves multiple robots collaborating in an adversarial and dynamic environment. Although many different forms gf robotic soccer are played, the University of Cape Town (UCT) chose the RoboCup small» sized robot league, officially known as the F180 RoboSoccer league, as a means of pursuing robotics research within the institution. The robot soccer game is played between two teams of ï¬ ve robots on a carpeted surface that is 2.8 m long by 2.3 m wide. The robots have their own on-board controller
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Hays, Jacob. "Control of self-reconfigurable robot teams for sensor placement /." Online version of thesis, 2010. http://hdl.handle.net/1850/12312.

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Nortman, Scott D. "Design, construction, and control of an autonomous humanoid robot." [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1000147.

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Thesis (M.S.)--University of Florida, 2002.<br>Title from title page of source document. Document formatted into pages; contains vii, 68 p.; also contains graphics. Includes vita. Includes bibliographical references.
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Pusey, Jason L. "Cable suspended parallel robots design, workspace, and control /." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file 3.60 Mb., 350 p, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&res_dat=xri:pqdiss&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft_dat=xri:pqdiss:1435861.

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Grandinetti, Francisco José. "Modelamento teórico e experimental para análise vibracional de um manipulador robótico de três graus de liberdade (robô IEMP)." Instituto Tecnológico de Aeronáutica, 1992. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1807.

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O objetivo principal deste trabalho é o estudo do comportamento dinâmico de um manipulador robótico de três graus de liberdade posicional. O estudo dinâmico focaliza o modelamento teórico e experimental do sistema de acionamento robótico. A tecnica de modelamento por grafos de ligação &quot;bond-graph&quot; é caracterizada completamente pela fonte de flexibilidade devido a elasticidade da transmissão mecânica e da compliância do acionamento com juntas robóticas flexíveis. Gera-se um modelo generalizado que contém as flexibilidades dos acionamentos, conectadas com a dinâmica de multi-corpos
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Oh, So-Ryeok. "Cable suspended robots control approaches and applications /." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file 2.58 Mb., 177 p, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&res_dat=xri:pqdiss&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft_dat=xri:pqdiss:3221083.

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Chen, Jian. "Multi-robot formation control : a receding-horizon leader-follower framework /." access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b30082377f.pdf.

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Thesis (Ph.D.)--City University of Hong Kong, 2009.<br>"Submitted to Department of Manufacturing Engineering and Engineering Management in fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references (leaves 103-114)
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Chen, Xingping. "Robust nonlinear trailing control for multiple mobile autonomous agents formation." Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1155591282.

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Wang, Can. "Formation control of multiple robot systems with motion synchronization concept /." access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b23750510f.pdf.

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Thesis (Ph.D.)--City University of Hong Kong, 2009.<br>"Submitted to Department of Manufacturing Engineering and Engineering Management in partial fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references.
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Palmer, Luther R. "Intelligent control and force redistribution for a high-speed quadruped trot." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.

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Xu, Qing Song. "Kinematics, dynamics and control of parallel robots." Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.

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Liljebäck, Pål. "Modelling, Development, and Control of Snake Robots." Doctoral thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2011. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-12335.

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This thesis is motivated by the long-term goal of developing snake robots which can move in unknown and challenging environments in order to support human intervention tasks. Inspired by biological snakes, snake robots typically consist of a large number of serially connected joint modules which provide stable and robust locomotion skills. The aim of this thesis is to increase our basic understanding of snake robot locomotion and to present new control strategies for these mechanisms. The thesis contains two parts. Part I Part I considers planar snake robot locomotion across horizontal and fla
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Löhning, Matthias [Verfasser]. "Robust Control of Elastic Robots / Matthias Löhning." München : Verlag Dr. Hut, 2011. http://d-nb.info/1015606512/34.

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Axelsson, Henrik. "Hybrid control of multiple autonomous mobile robots." Thesis, Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/15439.

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Caurin, Glauco Augusto de Paula. "Control of walking robots on natural terrain /." [S.l.] : [s.n.], 1994. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=10898.

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Egerstedt, Magnus. "Motion planning and control of mobile robots." Doctoral thesis, KTH, Mathematics, 2000. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-2948.

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Panimadai, Ramaswamy Shweta Annapurani. "Formation control of car-like mobile robots." Diss., Rolla, Mo. : Missouri University of Science and Technology, 2008. http://scholarsmine.mst.edu/thesis/pdf/Panimadai_Ramaswamy_09007dcc804aeda1.pdf.

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Thesis (M.S.)--Missouri University of Science and Technology, 2008.<br>Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed April 14, 2008) Includes bibliographical references (p. 119-121).
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Stowers, John Ross. "Biologically Inspired Visual Control of Flying Robots." Thesis, University of Canterbury. Electrical and Computer Engineering, 2013. http://hdl.handle.net/10092/8729.

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Insects posses an incredible ability to navigate their environment at high speed, despite having small brains and limited visual acuity. Through selective pressure they have evolved computationally efficient means for simultaneously performing navigation tasks and instantaneous control responses. The insect’s main source of information is visual, and through a hierarchy of processes this information is used for perception; at the lowest level are local neurons for detecting image motion and edges, at the higher level are interneurons to spatially integrate the output of previous stages. These
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Dhundur, Ninad Pravin. "Modeling and Control of Cable-Riding Robots." Thesis, University of Louisiana at Lafayette, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1553884.

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<p>Cables are used in various fields like construction, sports, communication, and transportation. Two important fields where cables are used for this research are transportation and high-voltage power lines. In the field of transportation, cables are used in cable-riding systems like cable cars, tramways, and gondola lifts. Vibration is induced in these systems. These vibrations are undesirable. </p><p> High-voltage power line cables are important part of our lives. Inspection of these power lines is necessary to eliminate the risk of power outages. Earlier power lines were inspected by ski
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Wang, Zhao. "Nonlinear estimation and control for assistive robots." Master's thesis, University of Central Florida, 2011. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5089.

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In this thesis, we document the progress in the estimation and control design of a smart assistive robot arm that can provide assistance during activities of daily living to the elderly and/or users with disabilities. Interaction with the environment is made challenging by the kinematic uncertainty in the robot, imperfect sensor calibration, limited view of angle as well as the fact that most activities of daily living are generally required to be performed in unstructured environments. For monocular visual systems, range (or depth) information is always crucial for target modeling and system
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Moore, Philip R. "Pneumatic motion control systems for modular robots." Thesis, Loughborough University, 1986. https://dspace.lboro.ac.uk/2134/7033.

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This thesis describes a research study in the design, implementation, evaluation and commercialisation of pneumatic motion control systems for modular robots. The research programme was conducted as part of a collaborative study, sponsored by the Science and Engineering Research Council, between Loughborough University and Martonair (UK) Limited. Microprocessor based motion control strategies have been used to produce low cost pneumatic servo-drives which can be used for 'point-to-point' positioning of payloads. Software based realtime control strategies have evolved which accomplish servo-con
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Sánchez, Secades Luis Alonso. "Control of meso-robots for endoluminal surgery." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20186/document.

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Cette thèse porte sur la conception et la validation expérimentale d’une architecture de téléopération avec retour d’effort pour la chirurgie endoluminale. Dans cette perspective, un robot chirurgical, à échelle mésoscopique, a été utilisé en tant que dispositif téléopéré. Ce robot, nommé SPRINT, a été développé dans le cadre du projet Européen ARAKNES (FP7, bourse no. 224565). L’objectif de ce projet, est d’insérer les degrés de liberté robotisés nécessaires aux manipulations chirurgicales à l’intérieur de la cavité péritonéale, ce qui permet d’apporter une assistance active durant la chirurg
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Ristic, M. "Dynamic analysis and control of anthromorphic robots." Thesis, Imperial College London, 1986. http://hdl.handle.net/10044/1/38144.

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Lee, Jun Ki S. M. Massachusetts Institute of Technology. "Affordable avatar control system for personal robots." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/46667.

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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2009.<br>Includes bibliographical references (p. 76-79).<br>Social robots (personal robots) emphasize individualized social interaction and communication with people. To maximize communication capacity of a personal robot, designers make it more anthropomorphic (or zoomorphic), and people tend to interact more naturally with such robots. However, adapting anthropomorphism (or zoomorphism) in social robots makes morphology of a robot more complex; thus, it becomes harde
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