Ultrasonic position reference systems for an autonomous sentry robot and a robot manipulator arm
Dunkin, William Mack
Thaler, George J.
Powers, John P.
MetadataShow full item record
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.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
Showing items related by title, author, creator and subject.
Cooperative Control of Multiple Space Manipulators 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 ...
Lyapunov Controller for Cooperative Space Manipulators Yale, G. E.; Agrawal, B.N. (1998);The cooperative control of multiplemanipulatorsattached to the samebase asthey reposition a common payload is discussed. The theory is easily appliedto inertially based problems, as well asspace-based free- oating ...
The effect of reference signals in a visual vigilance task. 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 ...