Thesis (Ph. D.)--University of Wisconsin--Madison, 1983. / Typescript. Vita. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 240-244).

Thesis--Stanford University. / Includes bibliographical references (p. 166-170).

Intelligent gripping may be achieved through gripper design, automated part recognition, intelligent algorithm for control of the gripper, and on-line decision-making based on sensory data. A generic framework which integrates sensory data, part recognition, decision-making and gripper control to achieve intelligent gripping based on ABB industrial robot is constructed. The three-fingered gripper actuated by a linear servo actuator designed and developed in this project for precise speed and position control is capable of handling a large variety of objects. Generic algorithms for intelligent part recognition are developed. Edge vector representation is discussed. Object geometric features are extracted. Fuzzy logic is successfully utilized to enhance the intelligence of the system. The generic fuzzy logic algorithm, which may also find application in other fields, is presented. Model-based gripping planning algorithm which is capable of extracting object grasp features from its geometric features and reasoning out grasp model for objects with different geometry is proposed. Manipulator trajectory planning solves the problem of generating robot programs automatically. Object-oriented programming technique based on Visual C++ MFC is used to constitute the system software so as to ensure the compatibility, expandability and modular programming design. Hierarchical architecture for intelligent gripping is discussed, which partitions the robot’s functionalities into high-level (modeling, recognizing, planning and perception) layers, and low-level (sensing, interfacing and execute) layers. Individual system modules are integrated seamlessly to constitute the intelligent gripping system.

This thesis discusses the possibility of attaining closed loop end piece control of a servo controlled manipulator by externally modifying the independent control loop set point of each robot link. This procedure leaves the existing servo control loops intact and thus has the benefit of acquiring the advantages of an advanced control strategy while retaining the inherent reliability and stability of the existing control loops. Algorithms are proposed for compensating for known disturbance torques, eliminating end piece position errors, and applying specified forces to the surroundings with the end piece. These algorithms are demonstrated for the three degree of freedom case using a simulation package ROBSIM.FOR which simulates the response of a servo controlled manipulator to set point inputs. To compensate for known disturbance torques the torques generated by the robot control system are assumed to be directly proportional to the changes in set points. These approximate relations are used to estimate the adjustment in set points necessary to generate the required additional joint torques. Simulation results show that this method is effective in compensating for gravity disturbance torques. The Jacobian relates changes in position of the end piece to changes in joint angles. Using the Jacobian combined with a weighting factor to prevent overshoot an algorithm is developed which drives end piece position errors to zero. The transpose of the Jacobian is used to relate forces exerted on the surroundings by the end piece to generated joint torques. The required torques are created by adjusting the set points. Simulation results indicate that this method can be used to exert specified forces. Force control is more difficult to achieve than position control because the robot interacts physically with its surroundings. The ability of the robot to exert forces depends strongly on the robot's configuration. All work in this thesis can be generated using the single program ROBSIM.FOR. / Applied Science, Faculty of / Mechanical Engineering, Department of / Graduate

M.Tech. (Electrical Engineering) / The challenges faced by modern industrial robots and robots in general are increasing in cornplexity. A modern robot can be defined as a technological system. capable of replacing or assisting man in carrying out a variety of physical tasks. Thus the implementation of advanced technology in the field of industrial robotics poses different challenges to those faced by engineers in other fields. The reason for this lies mainly in the fact that robots have to be be able to interact with their environment in some intelligent way. For the robot to be able to accomplish this. it must be able to obtain information about its immediate surroundings. and/or its position in the surroundings. In the case of industrial or other stationary robots. the knowledge about its surroundings are of less importance than its own position and the position of the relevant workpieces in the work space. Traditionally the position of a robot arm is measured using position encoders mounted at the joints of the robot arm. The combination of information obtained from these sensors gives the position of the endpoint of the arm. To ensure that the encoder positions accurately reflect the actual position of the arm. the arms have to be rigid, resulting in a heavy. bulky and costly system. If it were possible to determine the endpoint of a robot arm without using the joints of the arm as reference points, it would be possible to design more flexible robot arms. resulting in less costly and more maneuverable systems. Various solutions were considered for this measurement problem and from these it was decided to investigate the use of inertial measurement technology to determine the endpoint position of a flexible robot arm. To test the use of gyroscopes as feedback sensors in the position control of a flexible robot arm. a small low cost robot arm was developed. The design was based on an articulated robot arm with three degrees of freedom (DOF). The system was designed to be fitted with a flexible arm segment to evaluate the gyroscope-based feedback system. The system was further fitted with traditional position sensors to be used as the benchmark against which the gyroscope-based control system was to be compared. Making use of the traditional position sensors the endpoint of the arm can be accurately placed in a space of :3mm x 4mm x 1mni. When the robot was fitted with the flexible arm segment the gyroscopes were able to measure movement of the flexible ann. which the traditional sensors could not detect. Using the gyroscopes as position feedback. the robot was able to track the potentiometer position within 0.19° under dynamic conditions, but under stationary conditions. the error was 6.50 • Based on the results obtained. it was concluded that the displacement of a robot arm segment can be determined using inertial measurement technology. The low cost sensors used proved the concept. but for reliable operation. higher accuracy sensors would be required aided with information obtained from other sensors. i.e, potentiometers resolvers or other absolute encoders.

Thesis (Ph. D.)--University of Washington, 2001. / Vita. Includes bibliographical references (leaves 97-114).

Thesis (M. Phil.)--University of Hong Kong, 2002. / Includes bibliographical references (leaves 138-147).

Thesis (M.S.)--West Virginia University, 2003. / Title from document title page. Document formatted into pages; contains xiii, 116 p. : ill. (some col.). Vita. Includes abstract. Includes bibliographical references (p. 102-103).

published_or_final_version / Electrical and Electronic Engineering / Master / Master of Philosophy

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