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Dissertations / Theses on the topic 'Robot control'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Majors, Michael David. "Iterative robot control." Thesis, University of Cambridge, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.625008.

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2

Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.

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3

Celikkanat, Hande. "Control Of A Mobile Robot Swarm Via Informed Robots." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609966/index.pdf.

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In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction in some of the robots. These informed robots do not signal that they are informed (a.k.a.

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4

Dentler, Donald Richard II. "Design, Control, and Implementation of a Three Link Articulated Robot Arm." University of Akron / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=akron1217208877.

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5

Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.

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6

Wang, Zongyao. "Distributed robot flocking control." Thesis, University of Essex, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.499765.

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7

Jou, Yung-Tsan. "Human-Robot Interactive Control." Ohio University / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1082060744.

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8

Macdonald, Edward A. "Multi-robot assignment and formation control." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41200.

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Our research focuses on one of the more fundamental issues in multi-agent, mobile robotics: the formation control problem. The idea is to create controllers that cause robots to move into a predefined formation shape. This is a well studied problem for the scenario in which the robots know in advance to which point in the formation they are assigned. In our case, we assume this information is not given in advance, but must be determined dynamically. This thesis presents an algorithm that can be used by a network of mobile robots to simultaneously determine efficient robot assignments and forma

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9

Sequeira, Gerard. "Vision based leader-follower formation control for mobile robots." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Sequeira_09007dcc804429d4.pdf.

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Thesis (M.S.)--University of Missouri--Rolla, 2007.<br>Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 13, 2008) Includes bibliographical references (p. 39-41).

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10

Gaskett, Chris, and cgaskett@it jcu edu au. "Q-Learning for Robot Control." The Australian National University. Research School of Information Sciences and Engineering, 2002. http://thesis.anu.edu.au./public/adt-ANU20041108.192425.

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Q-Learning is a method for solving reinforcement learning problems. Reinforcement learning problems require improvement of behaviour based on received rewards. Q-Learning has the potential to reduce robot programming effort and increase the range of robot abilities. However, most currentQ-learning systems are not suitable for robotics problems: they treat continuous variables, for example speeds or positions, as discretised values. Discretisation does not allow smooth control and does not fully exploit sensed information. A practical algorithm must also cope with real-time constraints, sensing

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11

Rahim, Nabil A. "Adaptive control of robot manipulators." Thesis, University of Leeds, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.329126.

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12

Wahab, W. "Adaptive control of robot manipulator." Thesis, University of Manchester, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372317.

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13

Ho, Pi-Luen. "Parallel processing of robot control." Thesis, University of Reading, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.293162.

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14

Mustafa, F. "Robot manipulation and trajectory control." Thesis, University of Sussex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.375136.

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15

Li, Weiping. "Adaptive control of robot motion." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/14135.

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16

Uba, B. V. "Smart robot control information technology." Master's thesis, Sumy State University, 2021. https://essuir.sumdu.edu.ua/handle/123456789/86925.

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Тhe analysis of literature, methods and tools for development of a mapping system prototype using the Arduino board has been carried out. After getting acquainted with the existing solutions I developed a smart robot. The mapping system prototype use the Pygame for building an area map and the Telegram-bot for show the map.

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17

Paulsson, Johan. "Wireless Control of Industrial Robot." Thesis, Uppsala universitet, Solcellsteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-415059.

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The purpose of this project was to investigate if it is possible to have local wireless control of an industrial robot. This was achieved by first doing a diversity of research. Based on the research, the project was conceptualized and a real-life product was developed showcasing the functionality. The standard robot set up as of today consists of three main parts: A robot, a control unit and a handheld controller device, called Teach Pendant. All of these parts are connected with long aggravating cables. The cables cause inconvenience and can in some cases introduce unnecessary risks in the f

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18

Warshaw, Gabriel D. (Gabriel David) Carleton University Dissertation Engineering Systems and Computer. "Sampled-data robot adaptive control." Ottawa, 1994.

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19

Gaskett, Chris. "Q-Learning for robot control." View thesis entry in Australian Digital Theses Program, 2002. http://eprints.jcu.edu.au/623/1/gaskettthesis.pdf.

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Q-Learning is a method for solving reinforcement learning problems. Reinforcement learning problems require improvement of behaviour based on received rewards. Q-Learning has the potential to reduce robot programming effort and increase the range of robot abilities. However, most currentQ-learning systems are not suitable for robotics problems: they treat continuous variables, for example speeds or positions, as discretised values. Discretisation does not allow smooth control and does not fully exploit sensed information. A practical algorithm must also cope with real-time constraints, sensing

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20

Steven, Andrew. "Hybrid force and position control in robotic surface processing." Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.

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This programme of research was supported by NEI Parsons Ltd. who sought a robotic means of polishing mechanical components. A study of the problems associated with robot controlled surface processing is presented. From this evolved an approach consistent with the formalisation of the demands of workpiece manipulation which included the adoption of the Hybrid robot control scheme capable of simultaneous force and position control. A unique 3 axis planar experimental manipulator was designed which utilized combined parallel and serial drives. A force sensing wrist was used to measure contact for

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21

Igelmo, Victor. "Using a general robot programming system to control an industrial robot." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.

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Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operati

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22

Damweber, Michael Frank. "Model independent offset tracking with virtual feature points." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17651.

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23

Garratt, Matthew A. "Biologically inspired vision and control for an autonomous flying vehicle /." View thesis entry in Australian Digital Theses Program, 2007. http://thesis.anu.edu.au/public/adt-ANU20090116.154822/index.html.

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24

Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.

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The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks. Mo

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25

Tarbouriech, Sonny. "Dual-Arm control strategy in industrial environments." Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS111.

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Le besoin grandissant de flexibilité en milieu industriel conduit à reconsidérer la manière dont les robots sont utilisés dans de tels environnements. Il s'ensuit que la relation entre l'homme et les machines doit évoluer au profit d'une plus grande proximité, en leur permettant de partager un espace de travail commun et d'interagir physiquement.Dans cette optique, cette thèse a pour objectif de contribuer au contrôle de robots bi-bras à des fins collaboratives dans un contexte industriel. Pour ce faire, nous proposons une approche de contrôle cinématique réactif basée sur une loi de contrôle

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26

Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.

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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedi

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27

Racioppo, Peter Charles. "Design and Control of a Cable-Driven Articulated Modular Snake Robot." Thesis, Virginia Tech, 2018. http://hdl.handle.net/10919/91983.

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This thesis presents the design and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of the snake is a four-link, single degree of freedom module that bends using an antagonistic cable-routing scheme. Elastic elements in series with the cables and the coupled nature of the mechanism allow each module to detect and automatically respond to obstacles. The mechanical and electrical designs

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28

Giftsun, Nirmal. "Handling uncertainty and variability in robot control." Thesis, Toulouse, INSA, 2017. http://www.theses.fr/2017ISAT0028/document.

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Parmi les nombreuses recherches en matière de planification et de contrôle des mouvements pour des applications robotiques, l'humanité n'a jamais atteint un point où les robots seraient parfaitement fonctionnels et autonomes dans des environnements dynamiques. Bien qu'il soit controversé de discuter de la nécessité de ces robots, il est très important d'aborder les problèmes qui nous empêchent de réaliser un tel niveau d'autonomie. Ce travail de recherche tente de résoudre ces problèmes qui séparent ces deux modes de fonctionnement avec un accent particulier sur les incertitudes. Les impossibi

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29

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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30

Ahmed, Muhammad Rehan. "Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction." Doctoral thesis, Örebro universitet, Akademin för naturvetenskap och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-13986.

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Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition. Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, thi

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31

KARLSSON, AKMAL, and TARA MOHAMMED-AMIN. "Holonomic Spherical Mobile Robot : Omnidirectional spherical body robot using wireless control." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279805.

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The purpose of this project was to construct a holonomic mobile robot driven with omni wheels. That would enable movement in all degrees of freedom. The finished product was a robot platform within a spherical shell body controlled by input commands defining speed and direction from a wireless communication medium. The platform was iteratively designed and constructed with parts made out of laser cut acrylic plastic. By using omni wheels powered by Direct Current (DC) motors, which will be described further, the holonomic drive could be realized as the wheel hubs were placed on the platform wi

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32

Kalyadin, Dmitry. "Robot data and control server for Internet-based training on ground robots." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002111.

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33

Winter, Pieter Arnoldus. "Position control of a mobile robot /." Link to the online version, 2005. http://hdl.handle.net/10019/1317.

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34

Duchstein, Patrik. "Bluetooth Khepera robot control and communication." Thesis, University of Skövde, School of Humanities and Informatics, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-900.

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<p>This thesis aims to provide a solution for wireless control of, and communication with and among Khepera robots, making use of the Bluetooth wireless technology, to allow wireless control of multiple robots in real time. It is based on the foregoing work of other students who constructed a module for wireless control of Khepera robots over Bluetooth, but they were not able to control more than one physical robot at a time. Khepera robots, as well as many wireless solutions to control those, are closely investigated, and an introduction to Bluetooth is given. An implementation of a Bluetooth

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35

Mosesson, Maria, and Pär Aronssson. "Robot-Assisterad Gradningscell med Force Control." Thesis, KTH, Tillämpad maskinteknik (KTH Södertälje), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-93962.

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36

Hernández, González Francisco. "Planar Robot Arm Modelling and Control." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14883.

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The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface. Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera. Afterwards

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37

Kappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.

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Les robots ont amélioré les industries, en particulier les systèmes d'assemblage basé sur des conveyors et ils ont le potentiel pour apporter plus de bénéfices: transports; exploration de zones dangereuses, mer profonde et même d'autres planètes; santé et dans la vie courante.Une barrière majeure pour leur évasion des environnements industriels avec des enceintes vers des environnements partagés avec les humains, c'est leur capacité réduite dans les tâches d’interaction physique, inclue la manipulation d'objets.Tandis que la dextérité de la manipulation n'est pas affectée par la cécité dans le

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38

Kabganian, Mansour. "Switching adaptive control of robot manipulators." Thesis, University of Ottawa (Canada), 1994. http://hdl.handle.net/10393/10557.

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A switching adaptive-PD controller for the trajectory tracking problem of robotic manipulators subjected to large and abrupt changes of the system parameters is developed. The manipulator arm and the payload are considered, in the most general form, to have a highly nonlinear dynamical model with unknown or partially known parameters. A switching controller is proposed to give the system the ability to deal with abrupt and large changes of parameters. The proposed control system is comprised of two different schemes called, in this thesis, the low-level and the high-level controllers. The high

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39

Clark, Christopher M. "Neural netowrk algorithms for robot control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0007/MQ40965.pdf.

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40

Nath, Nitendra. "Nonlinear control techniques for robot manipulators." Connect to this title online, 2006. http://etd.lib.clemson.edu/documents/1173994815/.

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41

Kalaycioglu, Banu. "Control of coordinated multiple robot manipulators." Thesis, McGill University, 1991. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61095.

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This thesis investigates the issues of dynamical modelling, control and load distribution for coordinated multiple robot manipulators. An analysis of the load distribution problem for k coordinating robots handling a single payload is carried out and an optimal load sharing algorithm is developed. The algorithm calculates the minimum norms of the joint torques and the contact forces. The algorithm is based on an optimization scheme which minimizes a quadratic cost function associated with the joint torques and contact force vectors for the coordinating robot arms with the constraint of robot e

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42

Jacobs, Sean Andrew. "Adaptive control of a climbing robot." Thesis, University of Leeds, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.534748.

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43

Monteiro, Hugo Alexandre Pereira. "Neuromorphic systems for legged robot control." Thesis, University of Edinburgh, 2013. http://hdl.handle.net/1842/7736.

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Locomotion automation is a very challenging and complex problem to solve. Besides the obvious navigation problems, there are also problems regarding the environment in which navigation has to be performed. Terrains with obstacles such as rocks, steps or high inclinations, among others, pose serious difficulties to normal wheeled vehicles. The flexibility of legged locomotion is ideal for these types of terrains but this alternate form of locomotion brings with it its own challenges to be solved, caused by the high number of degrees of freedom inherent to it. This problem is usually computation

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44

Bekit, Biniam Weldai. "Robust nonlinear control of robot manipulators." Thesis, King's College London (University of London), 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.321945.

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45

Niemeyer, Günter Dieter. "Computational algorithms for adaptive robot control." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/42187.

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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.<br>Title as it appeared in MIT Graduate list, February 1990: Computational algorithms for adaptive control.<br>Includes bibliographical references (leaves 87-91).<br>by Günter [sic] Dieter Niemeyer.<br>M.S.

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46

Williamson, Matthew M. (Matthew Murray). "Robot arm control exploiting natural dynamics." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/16720.

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Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.<br>Includes bibliographical references (p. 143-150).<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>by Matthew M. Williamson.<br>Ph.D.

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47

Winter, Pieter. "Position control of a mobile robot." Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/1776.

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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2005.<br>Position calculation of mobile objects has challenged engineers and designers for years and is still continuing to do so. There are many solutions available today. Probably the best known and most widely used outdoor system today is the Global Positioning System (GPS). There are very little systems available for indoor use. An absolute positioning system was developed for this thesis. It uses a combination of ultrasonic and Radio Frequency (RF) communications to calculate a position fix in doors.

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48

Chahl, Javaan Singh. "Stratagems for mobile robot navigation using panoramic vision." Phd thesis, 1996. http://hdl.handle.net/1885/145673.

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49

"A rule-based drawing robot." 1999. http://library.cuhk.edu.hk/record=b5890081.

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by Tang Kai Hung.<br>Thesis (M.Phil.)--Chinese University of Hong Kong, 1999.<br>Includes bibliographical references.<br>Abstracts in English and Chinese.<br>Acknowledgements --- p.vi<br>Abstract --- p.1<br>Chapter 1 --- Introduction<br>Chapter 1.1 --- Motivation --- p.3<br>Chapter 1.2 --- Objective --- p.7<br>Chapter 1.3 --- Outline --- p.9<br>Chapter 2 --- Color Identification<br>Chapter 2.1 --- Grabbing --- p.11<br>Chapter 2.2 --- Digital Image Representation --- p.13<br>Chapter 2.3 --- Color Segmentation --- p.15<br>Chapter 2.3.1 --- Fuzzy Rule-Based Method --- p.15<br>Chapter 2.3

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50

Theodore, Rex J. "Dynamic Modeling And Control Analysis Of Multilink Flexible Manipulators." Thesis, 1995. https://etd.iisc.ac.in/handle/2005/1632.

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