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Robot control systems can be considered complex systems, the design of a controller involving the determination of the dynamic model for the system. This in itself can be a complicated task due to non-linearities, multiple axis (degrees of freedom) control and the constantly changing working environment. Problems arise when the theoretical model produced for such a system is not accurate. When developing a controller using conventional techniques a design scheme has to be produced, usually based on a model of the system. In addition kinematics equations must be derived to take into account the physical boundaries of the system. The work outlined in this thesis utilises fuzzy logic control to address these control issues. Fuzzy logic provides functional capability without the use of a system model and has characteristics suitable for capturing the approximate, vaiying values found in real world systems. Initial development of a single axis fuzzy logic control system was implemented on a Dainichi industrial five-axis robot, replacing the existing control and hardware systems with a new developmental system. The concept of fuzzy logic and its application to control highlights the potential advantages that fuzzy logic control (PLC) can provide when compared to the more conventional control methodologies. Additional new control hardware has been interfaced to an existing robot manipulator, making it possible to compare PLC and PIDVF (Proportional Integral Derivative Velocity FeedforwardlFeedback) controllers for single axis development. Average response time and overshoot for a given set point were compared for each system. The results proved that, using a basic PLC minimal overshoot and fast rise times could be achieved in comparison to the commercial PIDVF system. Further research concentrated on the development of the control software to provide multiple axis control for an industrial robot using a continuous path algorithm. The more from single axis to multiple axis control provided a much more complex control problem. A novel and innovative process for the fuzzy controller was implemented with up to three axes reaching the target point simultaneously. Control of the industrial robot was investigated using methods that were more suited to real time controL The most significant change was a reduction in the number of fuzzy rules when compared to single axis control. During robot control no adaptation of the rule base or membership functions was carried Out Ofl line; only system gain was modified in relation to link speed and joint error within predetermined design parameters. The fuzzy control system had to manage the effects of frictional and gravitational forces whilst compensating for the varying inertia components when each linkage is moving. Testing based on ISO 9283 for path accuracy and repeatability verified that real time control of three axes was achievable with values of 938tm and 864tm recorded for accuracy and repeatability respectively. The development of novel industrial robot real time multi-axis fuzzy controller has combined new control hardware with an efficient fuzzy engine addressing inverse kinematics, scaling and dynamic forces in order to provide a viable robot control system.

The purpose of this study was to find the best robot configuration for climbing and descending stairs, in addition to traveling on flat surfaces. Candidate robot types were analyzed to find the most suitable one for further study, based on stability, size, and energy consumption. Based on these considerations, the non-variable configuration tracked robot type was selected. The basic robot parameters (minimum track size, comparison of tracks with grousers vs. tracks without grousers, track angle of attack) were determined using static analysis methods and using North American standards for the stair geometry. Dynamic analysis methods were then employed to refine the geometry and ensure the stability of the robot when climbing and descending stairs. The final design was then simulated in Matlab to profile the device's velocity, acceleration, and power consumption during the stair climbing and descending phases. A prototype robot was constructed. The results of this study show that a non-variable tracked robot can be constructed for the purpose of climbing stairs by applying static and dynamic analysis techniques to optimize a design. This study provides the groundwork for this design, which can also serve as a basis for designing robots with other configurations.

In this thesis we considered a simulation platform for mobile robots algorithms: Sycamore. We implemented several new features for Sycamore and we tested them while studying three different algorithms to achieve gathering by robots with limited visibility: a deterministic well known algorithm, a simple new probabilistic algorithm, and a combination of the two. The deterministic algorithm is known to achieve exact gathering when there are no faults; we tested it for the first time in presence of crashes and observed interesting and unexpected behaviors. We then performed extensive simulations with the probabilistic solution to identify the cause of an unexpected high rate of success, the simulations help us identify the relation between the rate of success and the initial configuration. Finally, we combined the two designing a hybrid solution. This work resulted in improvements of Sycamore, which can now be better employed to study mobile robots algorithms, as well as in empirical observations leading to new theoretical problems to be investigated.

The pipeline network of North America is thousands of kilometer long and is ever increasing. To ensure the safety of every individual whose lives are affected by this network, the inspection of the pipelines are mandatory. With the steady progress and downsizing of robotic components, the wireless inspection of smaller pipelines is now a possibility and is the principal driver of this research. Mainly, the scope of this project is to explore the feasibility of the fabrication of a robot to inspect pipes of diameter of six to eight inches. Various design possibilities and the inherent problems of small confined environments inspections are investigated. The parameters for the fewest number of collisions for the design of a pipe robot is presented and various pipe scenarios are simulated. Finally, a prototype is fabricated and recommendations are suggested for future subsequent iterations of the robot.

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This master’s thesis deals with the navigation of a mobile robot that uses the ROS framework. The aim is to improve the ability of the existing B2 robot to move autonomously outdoors. The theoretical part contains a description of the navigation core, which consists of the move_base library and the packages used for planning. The practical part describe the aws of the existing solution, the design and implementation of changes and the results of subsequent testing in the urban park environment.

This work deals with automatic generation of hybrid dynamics of bipedal robot in Matlab symbolic toolbox. Next goal is to provide linearisation of nonlinear model and achieve optimal state space controller. Work implements object model generator and simulator based on core of Matlab Simulink and visualisation of the results in user friendly GUI.

The purpose of this thesis is to design and implement four-wheel mobile robot control which will be used in future in the field of mapping and localization. Concretely, it will be a design of drive control with microcontrollers Xmega, which will also process the signals of the sensors. Communication with the PC will ensure the BlueTooth module. In view of the future use of the robot, there will be designed and carried out modifications of the mechanical part. Correctness and functionality of all parts of the robot will be verified by carrying out basic movements.

This thesis describes the design and implementation of mobile robot IEEE Micromouse category. The aim is to build a functional design of robot usable to testing methods of mapping and localization. The thesis also deals with the design of electronics for motion control. Electronic design of optical sensors operating on the principle of reflection of infrared light and the signal processing.