MetadataShow full item record
AbstractThis paper is about determining whether using a Kinect V2 (Xbox One Kinect) mounted on a LAYLA ground robot can be used to detect obstacles, by generating a heightmap with the depth data. We take several factors into consideration including: framerate, power consumption, field of view, and data noise.
DescriptionMaster's Project (M.S.) University of Alaska Fairbanks, 2018
Showing items related by title, author, creator and subject.
Nodelet Robotics Autonomous Robot Project: Final ReportJohnston, Elizabeth; Leetch, David (2006-05-05)The requirement to design a robot that can navigate an obstacle course, avoiding both edges and walls to deliver a payload to a designated drop point and then return to the original starting point was accomplished. The design utilizes the NanoCore12 Max microcontroller as its core component The project included the design ofall electrical and mechanical subsystems and accompanying programming necessary to use the microcontroller to travel the obstacle course. To do this a navigational scheme was devised that allowed the robot to correctly navigate the course maze. Subsequent prototyping ofthe mechanical structure ofthe robot was completed along with other mechanical systems, including the motors and payload delivery system. Electrical systems including sensors and voltage regulation systems were designed. Finally the subroutines were combined into a total navigation and control system which was subsequently debugged and tested in order to evaluate the total system performance of the robot.
Remotely accessible hardware-in-the-loop robot simulatorTuran, Ali (2006-08)In this thesis, a novel and remotely accessible hardware-in-the-loop simulator (HILS) is developed for the real-time simulation of a variety of robotic systems for on-site and remote education and research. In that sense, the thesis contributes to the first known application of the HILS concept in the field of robotics and mechatronics that is remotely accessible. The HILS set-up incorporates most of the crucial hardware that takes part in the actual mechatronics/robotics system, thus enabling a more realistic simulation of the dynamics and control than would be possible with computer simulations. Any given robotic configuration can be simulated by using the developed HILS set-up, thus enhancing the flexibility and repertoire of expensive robotics laboratories. Besides the establishment of the hardware/software of the HILS setup, the major contribution of this thesis is the developed communication method between client and server that enables remote users to perform experiments on the HILS setup at the UAF Robotics and Control Laboratory. The main communication code is written in C/C++ with the use of wxWidgets. The protocol used in this study is TCP/IP for the sequential and error-free transmission of data. The MATLAB® Engine is used to establish the link between MATLAB® and the C/C++ code. For data capturing, a code is written in Python® programming language, which is compatible with ControlDesk. Finally, animations are prepared using the V-Realm Builder for the data collected from HILS experimentation. The experimentation results are sent to remote users as mat files, jpeg files and animations. The developed communication method can be used with all systems using MATLAB® Simulink® and is not limited to use with the HILS system only. Several case studies developed remotely (via the use of the internet) are also presented in the thesis as remote lab experiment and animation examples.
Robust control of geared and direct-drive robotic manipulators under parameter and model uncertaintiesSuravaram, Praveen Reddy; Bogosyan, Seta; Sonwalkar, Vikas; Aspnes, John (2005-05)The major contribution of this thesis is the design and evaluation of a chattering-free sliding mode controller (SMC), which is a novel application for 2 degree-of-freedom (DOF) planar robot arms exposed to load variations. The performance of the SMC is evaluated in comparison to a proportional-derivative-plus (PD+) controller, as an example of nonlinear model-based controllers, as well as classical linear controllers, such as proportional-derivative (PD) and proportional-integral-derivative (PID). The performance of all four methods has been tested via realistic and detailed simulation models developed for both geared and direct-drive type 2-DOF planar robot arms. The model used in simulations reflects the dynamics of the arm, as well as the actuator dynamics and pulse width modulation (PWM) switching of the power converters. Simulations are performed under unknown load variations for both step and sinusoidal type reference joint trajectories. The results demonstrate that the chattering-free SMC provides increased accuracy and robustness than that of the other controllers and requires no prior knowledge of the system dynamic model and the load variation that the end-effector is subjected to. The results obtained could be extended to the control of a variety of geared and direct-drive type robotic configurations.