Ultrasonic position reference systems for an autonomous sentry robot and a robot manipulator arm
Dunkin, William Mack
Thaler, George J.
Powers, John P.
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This thesis proposes and develops two microprocessor controlled electronic systems which provide absolute coordinate reference for an autonomous sentry robot and a robotic manipulator. These systems close the position control loop which has never been fully closed in robotics and provide a better "testbed" for testing path planning and manipulator trajectory control. Each system involves know points of reference and ranges to these points which are determined by timing the interval of propagation of the ultrasonic transmissions,, With this data, a microprocessor calculates the positions in Cartesian coordinates.
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Yale, G.; Agrawal, B.N. (1994);This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ...
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Criswell, Daniel Lewis (Naval Postgraduate School, 1969);The effect of reference signals on performance in a visual vigilance task was studied under three conditions. Reference signals were presented on the same display as the real signals. In condition 1 (control)/ no ...