Publication:
Robotic manipulation of a moving platform utilizing force sensing and sonar ranging

Loading...
Thumbnail Image
Authors
Raphael, Roy A.
Subjects
NA
Advisors
Ciezki, John G.
Yun, Xiaoping
Date of Issue
1998-03
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Robotic manipulators are widely used in industry where the environment may be too hostile for workers. However, their application has been limited to an industrial setting where the robot is mounted on a stationary base. It is of great interest to expand the application of the robot manipulator to where it is mounted on an autonomous delivery vehicle. This application would enable the delivery vehicle not only to locate objects in a hostile environment, but also to perform tasks that would entirely remove the human being from the hostile environment. This thesis explores the feasibility of implementing a manipulator on an autonomous vehicle. A Zebra-ZERO Force Control Robot is mounted on a moving platform for feasibility simulations of an autonomous delivery vehicle. The Zebra-ZERO system consists primarily of a robotic arm with six degrees of freedom, a six-axis force sensor mounted at the end of the manipulator, and supporting computer hardware and software. In this thesis, the capability of the Zebra-ZERO system is expanded by integrating it with an external sonar ranging system. The sonar ranging system provides range feedback that is critical for positioning the manipulator while it is mounted on a moving platform. Test results demonstrate that the manipulator mounted on a moving platform is able to compensate for random platform motions and successfully perform various manipulation tasks.
Type
Thesis
Description
Series/Report No
Department
Electrical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
xiv, 117 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Collections