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A steady state tip control strategy for long reach robotsLewis, Jeremy January 1996 (has links)
The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone. A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined. Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position correction strategies where tracking errors of ± 0.6 mm are recorded.
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The development and evaluation of computer vision algorithms for the control of an autonomous horticultural vehicleSouthall, John Benjamin January 2000 (has links)
No description available.
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A framework for behavioural control in computer animationHo, Carlos S. N. January 1996 (has links)
No description available.
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Evolving visually guided neural network robot arm controllers for lifetime learningRathbone, Kevin January 2000 (has links)
No description available.
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Robot tracking with advanced ultrasonicsKuang, Wen-Tao January 2000 (has links)
No description available.
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Experiments in animal-interactive roboticsVaughan, Richard January 1998 (has links)
No description available.
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Process models for the navigation of high speed land vehiclesJulier, Simon J. January 1997 (has links)
No description available.
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Non-minimum phase effects in geared robot transmissions and their resolution using a differential driveOntanon-Ruiz, Javier January 1996 (has links)
No description available.
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Dynamic modelling and control of a wheeled mobile robotAlbagul, Abdulgani January 2001 (has links)
No description available.
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Modelling, control and locomotion of a twelve degree of freedom biped robotAkdas, Davut January 2001 (has links)
No description available.
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