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York University
1.
Dong, Gangqi.
Autonomous Visual Servo Robotic Capture of Non-cooperative Target.
Degree: PhD, Earth & Space Science, 2017, York University
URL: http://hdl.handle.net/10315/33406
► This doctoral research develops and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space…
(more)
▼ This doctoral research develops and validates experimentally a vision-
based control scheme for the autonomous capture of a non-cooperative target by
robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final capture stage by
robotic manipulators after the orbital rendezvous and proximity maneuver being completed. Two challenges have been identified and investigated in this stage: the dynamic estimation of the non-cooperative target and the autonomous visual servo
robotic control. First, an integrated algorithm of photogrammetry and extended Kalman filter is proposed for the dynamic estimation of the non-cooperative target because it is unknown in advance. To improve the stability and precision of the algorithm, the extended Kalman filter is enhanced by dynamically correcting the distribution of the process noise of the filter. Second, the concept of incremental kinematic
control is proposed to avoid the multiple solutions in solving the inverse
kinematics of
robotic manipulators. The proposed target motion estimation and visual servo
control algorithms are validated experimentally by a custom built visual servo manipulator-target system. Electronic hardware for the
robotic manipulator and computer software for the visual servo are custom designed and developed. The experimental results demonstrate the effectiveness and advantages of the proposed vision-
based robotic control for the autonomous capture of a non-cooperative target. Furthermore, a preliminary study is conducted for future extension of the
robotic control with consideration of flexible joints.
Advisors/Committee Members: Zhu, George (advisor).
Subjects/Keywords: Engineering; Robotic manipulator; Visual servo; Non-cooperative target; Target estimation; Autonomous capture; Kinematics-based robotic control; Joint flexibility; On orbit servicing; Active debris removal
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APA (6th Edition):
Dong, G. (2017). Autonomous Visual Servo Robotic Capture of Non-cooperative Target. (Doctoral Dissertation). York University. Retrieved from http://hdl.handle.net/10315/33406
Chicago Manual of Style (16th Edition):
Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Doctoral Dissertation, York University. Accessed March 08, 2021.
http://hdl.handle.net/10315/33406.
MLA Handbook (7th Edition):
Dong, Gangqi. “Autonomous Visual Servo Robotic Capture of Non-cooperative Target.” 2017. Web. 08 Mar 2021.
Vancouver:
Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Internet] [Doctoral dissertation]. York University; 2017. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10315/33406.
Council of Science Editors:
Dong G. Autonomous Visual Servo Robotic Capture of Non-cooperative Target. [Doctoral Dissertation]. York University; 2017. Available from: http://hdl.handle.net/10315/33406

Delft University of Technology
2.
De Gier, M.R. (author).
Control of a robotic arm: Application to on-surface 3D-printing.
Degree: 2015, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a674a3fa-2534-44c4-b251-1e49a5194079
► 3D-printing, also called Additive Manufacturing, is a rapidly developing technique in manufacturing. Nowadays 20% of the printed products is a ?nal product, the rest is…
(more)
▼ 3D-printing, also called Additive Manufacturing, is a rapidly developing technique in manufacturing. Nowadays 20% of the printed products is a ?nal product, the rest is used in Rapid Prototyping. It is claimed that in 2020, 50% of the printed output is a ?nal product. The overall goal of this research is to print 3D-structures on curved surfaces. The print technique used is called Drop-on-Demand and uses a print head with multiple nozzles. The technique enables accurate and fast 3D-prints, but needs a 6-DOF manipulator to be able to print on curved surfaces. For this purpose a 6-DOF robotic arm, the UR5, is used. In 2013 a working prototype is developed by C.J. Kruit. It was proven that a robotic arm can be bene?cial to Additive Manufacturing. Still as a ?rst prototype there is much room for improvements. The goal of this research is develop a control strategy to be able to print accurately on double curved surfaces. Model Predictive Control is used as a strategy to minimize the error of the print. In this research also an approach to acquire a local model of the UR5 is developed. Furthermore feasibility of the desired printing path and safety of using the UR5 are topics of this research.
Delft Center for Systems and Control
Mechanical, Maritime and Materials Engineering
Advisors/Committee Members: Babuska, R. (mentor), Geraedts, J.M.P. (mentor), Zamani, M. (mentor).
Subjects/Keywords: 3D-printing; Robotic Arm; Model Predictive Control; Inverse Kinematics; Collision detection
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APA ·
Chicago ·
MLA ·
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to Zotero / EndNote / Reference
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APA (6th Edition):
De Gier, M. R. (. (2015). Control of a robotic arm: Application to on-surface 3D-printing. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a674a3fa-2534-44c4-b251-1e49a5194079
Chicago Manual of Style (16th Edition):
De Gier, M R (author). “Control of a robotic arm: Application to on-surface 3D-printing.” 2015. Masters Thesis, Delft University of Technology. Accessed March 08, 2021.
http://resolver.tudelft.nl/uuid:a674a3fa-2534-44c4-b251-1e49a5194079.
MLA Handbook (7th Edition):
De Gier, M R (author). “Control of a robotic arm: Application to on-surface 3D-printing.” 2015. Web. 08 Mar 2021.
Vancouver:
De Gier MR(. Control of a robotic arm: Application to on-surface 3D-printing. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Mar 08].
Available from: http://resolver.tudelft.nl/uuid:a674a3fa-2534-44c4-b251-1e49a5194079.
Council of Science Editors:
De Gier MR(. Control of a robotic arm: Application to on-surface 3D-printing. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:a674a3fa-2534-44c4-b251-1e49a5194079

Iowa State University
3.
Gai, Jingyao.
Navigation control of a robotic vehicle for field-based phenotyping.
Degree: 2020, Iowa State University
URL: https://lib.dr.iastate.edu/etd/18315
► Field-based phenotyping heavily relies on infield manual measurement, which is labor-intensive, repetitive, and time-consuming. With the rapid advancements of robotic technology, automated in-field phenotyping technologies…
(more)
▼ Field-based phenotyping heavily relies on infield manual measurement, which is labor-intensive, repetitive, and time-consuming. With the rapid advancements of robotic technology, automated in-field phenotyping technologies can significantly increase data throughput and reduce labor demand. A robotic mobile platform PhenoBot 3.0 was designed by our research group to traverse between crop rows and acquire phenotypic data automatically. However, the field-based navigation control is a critical and challenging task due to the complex and unstructured/semi-structured environment in the field. This dissertation documents our investigation of a field-based navigation control system for an agricultural field robotic vehicle. Different functional modules were developed and implemented for the system, including the motion control module based on robot kinetic model, the robot localization module using a single RTK-GPS receiver, the path tracking module running different tracking algorithms, and the computer vision-based row mapping and in-field localization module using different sensor setups. Path tracking based on GPS localization is the most common navigation strategy for agricultural robotic vehicles. Three specific path tracking algorithms including Linear-Quadratic Regulator (LQR), Pure Pursuit control (PPC) and Timed Elastic Band (TEB) were implemented. The performance of the proposed navigation control systems were assessed on our PhenoBot 3.0 platform under both simulated and real field conditions. Satisfactory accuracies in terms of the mean absolute tracking error (MATE) were achieved while running the LQR controller on our proposed navigation control system in both simulation and field tests. The results showed the proposed navigation control system is capable of guiding the PhenoBot 3.0 robot to follow predefined paths to traverse between crop rows on uneven terrain. For situations where global localization is denied or a pre-defined path is not available, computer vision was applied to detect the crop rows in order to locate the robot, create field maps, and navigate the robot through row-guidance. A vision-based system using a Time-of-Flight (ToF) camera was developed for under-canopy navigation, specifically for crop row mapping and robot localization under canopies of the crop rows. The potential and limitations of using ToF cameras for under-canopy navigation were investigated through field tests. Since the agronomically-spaced crop rows are well-constructed in parallel and lend to unique features in the frequency domain, Discrete Fourier Transform (DFT) can be potentially used to solve crop row detection problems of robot navigation in agriculture. A novel image processing pipeline was developed to detect crop rows from top-view color images using frequency domain analysis. A Linear Quadratic Gaussian (LQG) controller was used with the proposed algorithm for robot navigation between crop rows. The field tests showed that the proposed crop row detection algorithm was capable of detecting crop rows with…
Subjects/Keywords: Computer vision; Field-based navigation; Navigation control; Robotic vehicle
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gai, J. (2020). Navigation control of a robotic vehicle for field-based phenotyping. (Thesis). Iowa State University. Retrieved from https://lib.dr.iastate.edu/etd/18315
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gai, Jingyao. “Navigation control of a robotic vehicle for field-based phenotyping.” 2020. Thesis, Iowa State University. Accessed March 08, 2021.
https://lib.dr.iastate.edu/etd/18315.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gai, Jingyao. “Navigation control of a robotic vehicle for field-based phenotyping.” 2020. Web. 08 Mar 2021.
Vancouver:
Gai J. Navigation control of a robotic vehicle for field-based phenotyping. [Internet] [Thesis]. Iowa State University; 2020. [cited 2021 Mar 08].
Available from: https://lib.dr.iastate.edu/etd/18315.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gai J. Navigation control of a robotic vehicle for field-based phenotyping. [Thesis]. Iowa State University; 2020. Available from: https://lib.dr.iastate.edu/etd/18315
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of South Florida
4.
Menychtas, Dimitrios.
Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model.
Degree: 2018, University of South Florida
URL: https://scholarcommons.usf.edu/etd/7547
► Current clinical practice regarding upper body prosthesis prescription and training is lacking a standarized, quantitative method to evaluate the impact of the prosthetic device. The…
(more)
▼ Current clinical practice regarding upper body prosthesis prescription and training is lacking a standarized, quantitative method to evaluate the impact of the prosthetic device. The amputee care team typically uses prior experiences to provide prescription and training customized for each individual. As a result, it is quite challenging to determine the right type and fit of a prosthesis and provide appropriate training to properly utilize it early in the process. It is also very difficult to anticipate expected and undesired compensatory motions due to reduced degrees of freedom of a prosthesis user. In an effort to address this, a tool was developed to predict and visualize the expected upper limb movements from a prescribed prosthesis and its suitability to the needs of the amputee. It is expected to help clinicians make decisions such as choosing between a body-powered or a myoelectric prosthesis, and whether to include a wrist joint.
To generate the motions, a robotics-based model of the upper limbs and torso was created and a weighted least-norm (WLN) inverse kinematics algorithm was used. The WLN assigns a penalty (i.e. the weight) on each joint to create a priority between redundant joints. As a result, certain joints will contribute more to the total motion. Two main criteria were hypothesized to dictate the human motion. The first one was a joint prioritization criterion using a static weighting matrix. Since different joints can be used to move the hand in the same direction, joint priority will select between equivalent joints. The second criterion was to select a range of motion (ROM) for each joint specifically for a task. The assumption was that if the joints' ROM is limited, then all the unnatural postures that still satisfy the task will be excluded from the available solutions solutions. Three sets of static joint prioritization weights were investigated: a set of optimized weights specifically for each task, a general set of static weights optimized for all tasks, and a set of joint absolute average velocity-based weights. Additionally, task joint limits were applied both independently and in conjunction with the static weights to assess the simulated motions they can produce. Using a generalized weighted inverse control scheme to resolve for redundancy, a human-like posture for each specific individual was created.
Motion capture (MoCap) data were utilized to generate the weighting matrices required to resolve the kinematic redundancy of the upper limbs. Fourteen able-bodied individuals and eight prosthesis users with a transradial amputation on the left side participated in MoCap sessions. They performed ROM and activities of daily living (ADL) tasks. The methods proposed here incorporate patient's anthropometrics, such as height, limb lengths, and degree of amputation, to create an upper body kinematic model. The model has 23 degrees-of-freedom (DoFs) to reflect a human upper body and it can be adjusted to reflect levels of amputation.
The weighting factors resulted from this process showed…
Subjects/Keywords: Amputees; General-Weighted Least Norm; Kinematic Optimization; Prosthesis Users; Robotic Model; Velocity-based Inverse Kinematics; Biomechanics
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Menychtas, D. (2018). Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model. (Thesis). University of South Florida. Retrieved from https://scholarcommons.usf.edu/etd/7547
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Menychtas, Dimitrios. “Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model.” 2018. Thesis, University of South Florida. Accessed March 08, 2021.
https://scholarcommons.usf.edu/etd/7547.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Menychtas, Dimitrios. “Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model.” 2018. Web. 08 Mar 2021.
Vancouver:
Menychtas D. Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model. [Internet] [Thesis]. University of South Florida; 2018. [cited 2021 Mar 08].
Available from: https://scholarcommons.usf.edu/etd/7547.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Menychtas D. Human Body Motions Optimization for Able-Bodied Individuals and Prosthesis Users During Activities of Daily Living Using a Personalized Robot-Human Model. [Thesis]. University of South Florida; 2018. Available from: https://scholarcommons.usf.edu/etd/7547
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
5.
Boisseau, Bruno.
Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems.
Degree: Docteur es, Automatique - productique, 2017, Université Grenoble Alpes (ComUE)
URL: http://www.theses.fr/2017GREAT037
► La théorie du contrôle a d'abord été conçue pour des contrôleurs analogiques. Il était alors pertinent de synthétiser un contrôleur dans une représentation continue. De…
(more)
▼ La théorie du contrôle a d'abord été conçue pour des contrôleurs analogiques. Il était alors pertinent de synthétiser un contrôleur dans une représentation continue. De nos jours, les systèmes numériques ont majoritairement remplacés les systèmes analogiques pour différentes raisons (coût, résistance au bruit, intégration,...). Les signaux sont alors maintenus constants entre le cadencement périodique fixé par une horloge numérique.La commande événementielle vise à améliorer l’échantillonnage périodique en proposant une méthode dans laquelle les mises à jour sont déclenchées par une fonction événement.Dans cette thèse, de nouvelles méthodes de synthèse de contrôleurs evenementiels sont présentés et testés sur des systèmes temps-réels.La contribution la plus originale étant l'utilisation d'une commande événementielle appliquée à un problème d'anticollision entre une quadrirotor et un environnement supposé connu.
Control system theory has first been built for analog controllers. In this context, it was relevant to use a continuous framework to design a control feedback function. Nowadays, digital technologies are supplanting analog solutions due to several advantages (cost, noise, resistance, integration...). Signal is held constant between periodic triggers given by a digital clock.Event-based (or event-triggered) control aims to improve the periodic sampling scheme by proposing a method in which updates are triggered by an event function.In this thesis new event-based designs are detailled and tested on real-time systems.The most original contribution of this thesis is the use of an event-triggered design for a problem of collision avoidance between a quadrotor and a known environment.
Advisors/Committee Members: Marchand, Nicolas (thesis director), Martinez Molina, John Jairo (thesis director), Raharijaona, Thibaut (thesis director).
Subjects/Keywords: Commande événementielle; Quadrirotor; Automatique; Robotique; Event-Based control; Quadrirotor; Control systems; Robotic; 620
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Boisseau, B. (2017). Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems. (Doctoral Dissertation). Université Grenoble Alpes (ComUE). Retrieved from http://www.theses.fr/2017GREAT037
Chicago Manual of Style (16th Edition):
Boisseau, Bruno. “Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems.” 2017. Doctoral Dissertation, Université Grenoble Alpes (ComUE). Accessed March 08, 2021.
http://www.theses.fr/2017GREAT037.
MLA Handbook (7th Edition):
Boisseau, Bruno. “Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems.” 2017. Web. 08 Mar 2021.
Vancouver:
Boisseau B. Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems. [Internet] [Doctoral dissertation]. Université Grenoble Alpes (ComUE); 2017. [cited 2021 Mar 08].
Available from: http://www.theses.fr/2017GREAT037.
Council of Science Editors:
Boisseau B. Commande événementielle : applications aux systèmes robotiques : Event-based control dedicated to robotic systems. [Doctoral Dissertation]. Université Grenoble Alpes (ComUE); 2017. Available from: http://www.theses.fr/2017GREAT037

University of Texas – Austin
6.
-8572-0733.
Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment.
Degree: MSin Engineering, Mechanical Engineering, 2019, University of Texas – Austin
URL: http://dx.doi.org/10.26153/tsw/5631
► Despite mechanical advancements in the design of hand exoskeleton devices to help people with hand disabilities regain partial hand function, their manipulation performance has remained…
(more)
▼ Despite mechanical advancements in the design of hand exoskeleton devices to help people with hand disabilities regain partial hand function, their manipulation performance has remained far inferior compared to the human hand. State-of-the-art
control strategies implemented on exoskeletons are mainly focused on robot joint-level position
control, although accurate
control of fingertip positions and forces is a requirement for reaching human-like dexterity and manipulation. The relationships between inputs (motor commands) and outputs (fingertip positions and forces) are highly nonlinear due to the inherent limitations in actuation structure of multiple degree of freedom (DOF) exoskeletons. Moreover, the simplified coupled models of finger joint movements do not hold when humans interact with external objects and exert forces at their fingertips. Therefore achieving dexterous manipulation will require accurate models of interaction between the fingers, hand exoskeleton system, and fingertip environment.
In this thesis we accomplish, for the first time, fingertip position and force
control with an assistive multi-DOF hand exoskeleton through accurate modeling of the hand-exoskeleton-environment. First, we provide kinematic and kinetic models for the human fingers, robot structure, and the Bowden cable power transmission for a fully actuated hand exoskeleton design. Next, we validate the models in simulation and demonstrate the successful
control of fingertip position and forces in everyday drawing tasks. Finally, we utilize an experimental setup with a finger exoskeleton unit with two actuated DOF attached to an instrumented testbed finger to demonstrate successful tracking of fingertip position and forces within human accuracy levels through model-
based control.
Advisors/Committee Members: Deshpande, Ashish D. (advisor).
Subjects/Keywords: Exoskeleton; Hand; Modeling; Model-based control; Assistive; Robotics; Kinematics; Manipulation; Dexterous; Control
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
-8572-0733. (2019). Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment. (Masters Thesis). University of Texas – Austin. Retrieved from http://dx.doi.org/10.26153/tsw/5631
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Chicago Manual of Style (16th Edition):
-8572-0733. “Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment.” 2019. Masters Thesis, University of Texas – Austin. Accessed March 08, 2021.
http://dx.doi.org/10.26153/tsw/5631.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
MLA Handbook (7th Edition):
-8572-0733. “Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment.” 2019. Web. 08 Mar 2021.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Vancouver:
-8572-0733. Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment. [Internet] [Masters thesis]. University of Texas – Austin; 2019. [cited 2021 Mar 08].
Available from: http://dx.doi.org/10.26153/tsw/5631.
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete
Council of Science Editors:
-8572-0733. Fingertip position and force control for dexterous manipulation through accurate modeling of hand-exoskeleton-environment. [Masters Thesis]. University of Texas – Austin; 2019. Available from: http://dx.doi.org/10.26153/tsw/5631
Note: this citation may be lacking information needed for this citation format:
Author name may be incomplete

University of Plymouth
7.
Roper, Daniel.
Energy based control system designs for underactuated robot fish propulsion.
Degree: PhD, 2013, University of Plymouth
URL: http://hdl.handle.net/10026.1/1560
► In nature, through millions of years of evolution, fish and cetaceans have developed fast efficient and highly manoeuvrable methods of marine propulsion. A recent explosion…
(more)
▼ In nature, through millions of years of evolution, fish and cetaceans have developed fast efficient and highly manoeuvrable methods of marine propulsion. A recent explosion in demand for sub sea robotics, for conducting tasks such as sub sea exploration and survey has left developers desiring to capture some of the novel mechanisms evolved by fish and cetaceans to increase the efficiency of speed and manoeuvrability of sub sea robots. Research has revealed that interactions with vortices and other unsteady fluid effects play a significant role in the efficiency of fish and cetaceans. However attempts to duplicate this with robotic fish have been limited by the difficulty of predicting or sensing such uncertain fluid effects. This study aims to develop a gait generation method for a robotic fish with a degree of passivity which could allow the body to dynamically interact with and potentially synchronise with vortices within the flow without the need to actually sense them. In this study this is achieved through the development of a novel energy based gait generation tactic, where the gait of the robotic fish is determined through regulation of the state energy rather than absolute state position. Rather than treating fluid interactions as undesirable disturbances and `fighting' them to maintain a rigid geometric defined gait, energy based control allows the disturbances to the system generated by vortices in the surrounding flow to contribute to the energy of the system and hence the dynamic motion. Three different energy controllers are presented within this thesis, a deadbeat energy controller equivalent to an analytically optimised model predictive controller, a H_∞ disturbance rejecting controller with a novel gradient decent optimisation and finally a error feedback controller with a novel alternative error metric. The controllers were tested on a robotic fish simulation platform developed within this project. The simulation platform consisted of the solution of a series of ordinary differential equations for solid body dynamics coupled with a finite element incompressible fluid dynamic simulation of the surrounding flow. results demonstrated the effectiveness of the energy based control approach and illustrate the importance of choice of controller in performance.
Subjects/Keywords: 629.8; Marine Robotics; Robotic Fish; Control System Design; Robust Control; Underactuated Control; Energy Based Control; Simulation
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Roper, D. (2013). Energy based control system designs for underactuated robot fish propulsion. (Doctoral Dissertation). University of Plymouth. Retrieved from http://hdl.handle.net/10026.1/1560
Chicago Manual of Style (16th Edition):
Roper, Daniel. “Energy based control system designs for underactuated robot fish propulsion.” 2013. Doctoral Dissertation, University of Plymouth. Accessed March 08, 2021.
http://hdl.handle.net/10026.1/1560.
MLA Handbook (7th Edition):
Roper, Daniel. “Energy based control system designs for underactuated robot fish propulsion.” 2013. Web. 08 Mar 2021.
Vancouver:
Roper D. Energy based control system designs for underactuated robot fish propulsion. [Internet] [Doctoral dissertation]. University of Plymouth; 2013. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10026.1/1560.
Council of Science Editors:
Roper D. Energy based control system designs for underactuated robot fish propulsion. [Doctoral Dissertation]. University of Plymouth; 2013. Available from: http://hdl.handle.net/10026.1/1560

Penn State University
8.
Briggs, Kathryn Launa.
a coupled mobile base manipulation system for robotic refueling
.
Degree: 2014, Penn State University
URL: https://submit-etda.libraries.psu.edu/catalog/22843
► Technological advancements in computer vision, path planning, and spatial awareness have enabled the development of robotic manipulation systems to perform elementary dexterous tasks. A specific…
(more)
▼ Technological advancements in computer vision, path planning, and spatial awareness have enabled the development of
robotic manipulation systems to perform elementary dexterous tasks. A specific application considered here consists of having a
robotic manipulator refuel a vehicle gas tank. Currently there are no standard mobile
robotic refueling systems. Moreover, although increasingly more common, ground robots have not been used specifically for refueling tasks. This thesis examines the ability of a three-degree-of-freedom
robotic manipulator coupled with a mobile base to perform a vehicle refueling task. A model of a three-degree-of-freedom
robotic manipulator was fully implemented with a GAZEBO simulation package to test the refueling process in a virtual world. This allowed virtual testing of multiple vehicles and fuel tank configurations. Tests were then conducted using a real three-degree-of-freedom
robotic manipulator, a RE2 Automatic Arm, fully integrated with ROS (Robot Operating System). For angled fuel tank inlets, an additional degree of freedom was required, where a wrist joint was needed to properly align the nozzle along the central axis of the angled fuel tank inlet tube. The advantage of using a mobile base as an additional degree of freedom during refueling is assessed for a sample refueling trajectory. Specific geometries of the
robotic manipulator in relation to the mobile base were incorporated into an analysis of the optimal base location for each trajectory point along the desired refueling path. Through the investigation of mobile base and manipulator movement, specific constraints are quantified for the prototype design of a wheeled mobile base. The analysis results also provide insight into general design principles for
robotic refueling systems.
Advisors/Committee Members: Sean N Brennan, Thesis Advisor/Co-Advisor, Karl Martin Reichard, Thesis Advisor/Co-Advisor.
Subjects/Keywords: inverse kinematics; robotic refueling; mobile base; robotic manipulator
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APA ·
Chicago ·
MLA ·
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CSE |
Export
to Zotero / EndNote / Reference
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APA (6th Edition):
Briggs, K. L. (2014). a coupled mobile base manipulation system for robotic refueling
. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/22843
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Briggs, Kathryn Launa. “a coupled mobile base manipulation system for robotic refueling
.” 2014. Thesis, Penn State University. Accessed March 08, 2021.
https://submit-etda.libraries.psu.edu/catalog/22843.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Briggs, Kathryn Launa. “a coupled mobile base manipulation system for robotic refueling
.” 2014. Web. 08 Mar 2021.
Vancouver:
Briggs KL. a coupled mobile base manipulation system for robotic refueling
. [Internet] [Thesis]. Penn State University; 2014. [cited 2021 Mar 08].
Available from: https://submit-etda.libraries.psu.edu/catalog/22843.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Briggs KL. a coupled mobile base manipulation system for robotic refueling
. [Thesis]. Penn State University; 2014. Available from: https://submit-etda.libraries.psu.edu/catalog/22843
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

McMaster University
9.
Jafarinasab, Mohammad.
Motion Control of Under-actuated Aerial Robotic Manipulators.
Degree: PhD, 2018, McMaster University
URL: http://hdl.handle.net/11375/22801
► This thesis presents model-based adaptive motion control algorithms for under-actuated aerial robotic manipulators combining a conventional multi-rotor Unmanned Aerial Vehicle (UAV) and a multi-link serial…
(more)
▼ This thesis presents model-based adaptive motion control algorithms for under-actuated
aerial robotic manipulators combining a conventional multi-rotor Unmanned Aerial Vehicle
(UAV) and a multi-link serial robotic arm. The resulting control problem is quite
challenging due to the complexity of the combined system dynamics, under-actuation, and
possible kinematic redundancy. The under-actuation imposes second-order nonholonomic
constraints on the system motion and prevents independent control of all system degrees
of freedom (DOFs). Desired reference trajectories can only be provided for a selected
group of independent DOFs, whereas the references for the remaining DOFs must be determined such that they are consistent with the motion constraints. This restriction prevents
the application of common model-based control methods to the problem of this thesis. Using
insights from the system under-actuated dynamics, four motion control strategies are
proposed which allow for semi-autonomous and fully-autonomous operation. The control
algorithm is fully developed and presented for two of these strategies; its development for
the other two configurations follows similar steps and hence is omitted from the thesis.
The proposed controllers incorporate the combined dynamics of the UAV base and the serial
arm, and properly account for the two degrees of under-actuation in the plane of the
propellers. The algorithms develop and employ the second-order nonholonomic constraints
to numerically determine motion references for the dependent DOFs which are consistent with the motion constraints. This is a unique feature of the motion control algorithms
in this thesis which sets them apart from all other prior work in the literature of UAVmanipulators.
The control developments follow the so-called method of virtual decomposition,
which by employing a Newtonian formulation of the UAV-Manipulator dynamics,
sidesteps the complexities associated with the derivation and parametrization of a lumped
Lagrangian dynamics model. The algorithms are guaranteed to produce feasible control
commands as the constraints associated with the under-actuation are explicitly considered
in the control calculations. A method is proposed to handle possible kinematic redundancy
in the presence of second-order motion constraints. The control design is also extended to
include the propeller dynamics, for cases that such dynamics may significantly impact the
system response. A Lyapunov analysis demonstrates the stability of the overall system and
the convergence of the motion tracking errors. Experimental results with an octo-copter integrated with a 3 DOF robotic manipulator show the effectiveness of the proposed control strategies.
Thesis
Doctor of Philosophy (PhD)
Advisors/Committee Members: Sirouspour, Shahin, Electrical and Computer Engineering.
Subjects/Keywords: Motion control; under-actuation; nonholonomic; virtual decomposition; model-based; adaptive control; kinematic redundancy; multi-body system; aerial robotic; UAV; manipulator
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Jafarinasab, M. (2018). Motion Control of Under-actuated Aerial Robotic Manipulators. (Doctoral Dissertation). McMaster University. Retrieved from http://hdl.handle.net/11375/22801
Chicago Manual of Style (16th Edition):
Jafarinasab, Mohammad. “Motion Control of Under-actuated Aerial Robotic Manipulators.” 2018. Doctoral Dissertation, McMaster University. Accessed March 08, 2021.
http://hdl.handle.net/11375/22801.
MLA Handbook (7th Edition):
Jafarinasab, Mohammad. “Motion Control of Under-actuated Aerial Robotic Manipulators.” 2018. Web. 08 Mar 2021.
Vancouver:
Jafarinasab M. Motion Control of Under-actuated Aerial Robotic Manipulators. [Internet] [Doctoral dissertation]. McMaster University; 2018. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/11375/22801.
Council of Science Editors:
Jafarinasab M. Motion Control of Under-actuated Aerial Robotic Manipulators. [Doctoral Dissertation]. McMaster University; 2018. Available from: http://hdl.handle.net/11375/22801

University of Technology, Sydney
10.
Ramezani Taghiabadi, Nima.
Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators.
Degree: 2016, University of Technology, Sydney
URL: http://hdl.handle.net/10453/62980
► This aim of this work is to present a comprehensive review and analysis with experiments and concrete comparison on the methods, algorithms and techniques proposed…
(more)
▼ This aim of this work is to present a comprehensive review and analysis with experiments and concrete comparison on the methods, algorithms and techniques proposed for the Inverse Kinematics, Kinematic Control and Redundancy Resolution problems in chained-link manipulators. In addition to the review of classic solutions proposed in the literature, this thesis introduces some novel and innovative methods from the author that have not been used for the IK and RR problems prior to this study.
This thesis also presents a targeted layout of experiments in order to evaluate and compare the performance of different solutions and techniques in the IK problem. Various algorithmic factors and settings have been tested on different solution methods for four manipulators with different geometries and degrees of freedom. The tests are designed to find the optimum values for different influential parameters in order to improve the performance step by step so that in the final test, a good performance with almost %100 success rate and reasonable computational cost is achieved.
In addition to the comprehensive review and proposition of novel techniques, this thesis presents two robust software packages named as Manipulator Generic Inverse Kinematic Solver (MAGIKS) and Skilled-PR2 (S-PR2) which have been used to implement the experiments. The first one is a local Jacobian-based numeric IK solver that can be used for any general chained-link manipulator with no limitation on degree of freedom and number of end-effectors. The second one is an analytic (position-based) IK solver for PR2 with the ability of redundancy optimization for this robot. Both solvers are able to project and generate smooth and feasible trajectories in the joint-space and can be used by researchers and developers working on robot kinematics.
Subjects/Keywords: Inverse kinematics problems.; Kinematic Control problems.; Redundancy Resolution problems.; Chained-link robotic manipulators.; Manipulator Generic Inverse Kinematic Solver (MAGIKS).; Skilled-PR2 (S-PR2).
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ramezani Taghiabadi, N. (2016). Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators. (Thesis). University of Technology, Sydney. Retrieved from http://hdl.handle.net/10453/62980
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Ramezani Taghiabadi, Nima. “Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators.” 2016. Thesis, University of Technology, Sydney. Accessed March 08, 2021.
http://hdl.handle.net/10453/62980.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Ramezani Taghiabadi, Nima. “Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators.” 2016. Web. 08 Mar 2021.
Vancouver:
Ramezani Taghiabadi N. Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators. [Internet] [Thesis]. University of Technology, Sydney; 2016. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10453/62980.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Ramezani Taghiabadi N. Inverse kinematics, kinematic control and redundancy resolution for chained-link robotic manipulators. [Thesis]. University of Technology, Sydney; 2016. Available from: http://hdl.handle.net/10453/62980
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
11.
Chandra, Rohit.
Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras.
Degree: Docteur es, Robotique, 2019, Université Clermont Auvergne (2017-2020)
URL: http://www.theses.fr/2019CLFAC042
► L'approche classique pour le contrôle coopératif dans l’espace de travail d’un manipulateur bi-bras a été revisitée. En particulier, une nouvelle approche pour la formulation symétrique…
(more)
▼ L'approche classique pour le contrôle coopératif dans l’espace de travail d’un manipulateur bi-bras a été revisitée. En particulier, une nouvelle approche pour la formulation symétrique de la coordination bi-bras à l'aide du concept "virtual sticks" a été proposée à l'aide d'un torseur cinématique en utilisant des quaternions duaux. Le contrôle couplé dans l'espace de travail coopératif qui est proposé, i.e. le contrôle simultané, en position et en orientation, des points de consigne de l'espace de travail relatif et absolu a été comparé à un contrôleur proportionnel découplé traitant séparément les erreurs de position et d'orientation. Le contrôleur couplé a démontré un meilleur suivi de la pose et de l'orientation en termes de précision et de stabilité comparé au contrôleur découplé pour les tâches exigeant un fonctionnement plus rapide dans l'espace de travail relatif des manipulateurs bi-bras.L'approche de modélisation et de contrôle de l'espace de travail d’une tâche coopérative, en exploitant les torseurs cinématiques et des quaternions duaux, a été étendue à la modélisation de la coopération des doigts d'une main robotique anthropomorphique. De plus, le couplage des articulations des doigts sous-actionnés de la main robotique a été représenté à l’aide de la "jacobienne couplée" du doigt. La "jacobienne couplée" du doigt robotique a été utilisée pour le contrôle cinématique inverse, tout en lui permettant une intégration facile avec un bras robotique.L'idée d'un traitement couplé des variables en position et en orientation a été capitalisée en utilisant la conception d'une trajectoire de second ordre utilisant des quaternions duaux. Le contrôleur de trajectoire ainsi conçu est capable de suivre les points de consigne en pose en vitesse et en accélération, de l'effecteur en utilisant le modèle dynamique inverse du robot. Le contrôleur couplé en taux d’accélération résolue ("resolved rate acceleration") s'est avéré capable d'un contrôle de trajectoire plus précis, particulièrement en termes d'erreurs liées à l'orientation, que le contrôleur découplé classique qui traitait séparément les points de consigne en position et en orientation et ignorait l'effet de la rotation sur le mouvement de translation. De plus, cela a également permis de réduire les oscillations de la commande du couple des articulations lorsque le contrôleur a été implémenté pour le contrôle de l'un des bras du robot bi-bras Baxter.Enfin, un cadre complet pour la coordination des systèmes robotiques bi-bras a été proposé avec l'ajout d'un planificateur de tâches coopératives. La simplicité du torseur cinématique a également été exploitée pour la génération de trajectoires généralisées du second ordre pour des tâches nécessitant un mouvement simplifié, comme la translation, la rotation et la torsion autour d'un axe hélicoïdale arbitraire donné dans un repère connu. La méthode de génération de trajectoires a été étendue pour représenter les contraintes liées aux tâches impliquant un contact entre les objets en utilisant le concept de mécanisme…
Advisors/Committee Members: Mezouar, Youcef (thesis director).
Subjects/Keywords: Quaternions; Manipulation; Dual-arm Manipulation; Collaborative robot; Kinematics; Screw-theory; Dual-quaternion; Quaternion; Anthropomorphic robotic hand; Dynamics; Computed torque control; Spatial Dynamics; Trajectory tracking; Deformable objects
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Chandra, R. (2019). Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras. (Doctoral Dissertation). Université Clermont Auvergne (2017-2020). Retrieved from http://www.theses.fr/2019CLFAC042
Chicago Manual of Style (16th Edition):
Chandra, Rohit. “Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras.” 2019. Doctoral Dissertation, Université Clermont Auvergne (2017-2020). Accessed March 08, 2021.
http://www.theses.fr/2019CLFAC042.
MLA Handbook (7th Edition):
Chandra, Rohit. “Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras.” 2019. Web. 08 Mar 2021.
Vancouver:
Chandra R. Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras. [Internet] [Doctoral dissertation]. Université Clermont Auvergne (2017-2020); 2019. [cited 2021 Mar 08].
Available from: http://www.theses.fr/2019CLFAC042.
Council of Science Editors:
Chandra R. Application of Dual Quaternion for Bimanual Robotic Tasks : Application des quaternions duaux aux tâches robotiques bi-bras. [Doctoral Dissertation]. Université Clermont Auvergne (2017-2020); 2019. Available from: http://www.theses.fr/2019CLFAC042

Brno University of Technology
12.
Bobčík, Petr.
Robotické rameno s modelářskými servy: Robotic Arm with Model Servos.
Degree: 2020, Brno University of Technology
URL: http://hdl.handle.net/11012/191427
► The main goal of this thesis was to create my own robotic manipulator, which is controlled by its own user interface. I made a robotic…
(more)
▼ The main goal of this thesis was to create my own
robotic manipulator, which is controlled by its own user interface. I made a
robotic arm
based on computer Raspberry Pi 3B+ with 5 digital servos and a gripping mechanism in the form of a claw, to which I also attached a laser pointer. The user interface problematics was solved by creating a simple web page (combination of HTML, PHP and JS), which i placed into the Apache 2 web server (installed in Raspberry Pi). I successfully incorporated a way to
control the servo one by one and how to
control the whole arm with inverse
kinematics into the user interface.
Advisors/Committee Members: Zemčík, Pavel (advisor), Nosko, Svetozár (referee).
Subjects/Keywords: bakalářská práce; robotické rameno; robotický manipulátor; rameno; 3d tisk; servo; apache 2; server; GUI; inverzní kinematika; ovládání; raspberry pi; bachelor's thesis; robotic arm; robotic manipulator; arm; 3d print; servo; apache 2; server; GUI; inverse kinematics; control; raspberry pi
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Bobčík, P. (2020). Robotické rameno s modelářskými servy: Robotic Arm with Model Servos. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/191427
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Bobčík, Petr. “Robotické rameno s modelářskými servy: Robotic Arm with Model Servos.” 2020. Thesis, Brno University of Technology. Accessed March 08, 2021.
http://hdl.handle.net/11012/191427.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Bobčík, Petr. “Robotické rameno s modelářskými servy: Robotic Arm with Model Servos.” 2020. Web. 08 Mar 2021.
Vancouver:
Bobčík P. Robotické rameno s modelářskými servy: Robotic Arm with Model Servos. [Internet] [Thesis]. Brno University of Technology; 2020. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/11012/191427.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Bobčík P. Robotické rameno s modelářskými servy: Robotic Arm with Model Servos. [Thesis]. Brno University of Technology; 2020. Available from: http://hdl.handle.net/11012/191427
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Stellenbosch University
13.
Viljoen, Ruan Matthys.
Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints.
Degree: MEng, Electrical and Electronic Engineering, 2020, Stellenbosch University
URL: http://hdl.handle.net/10019.1/109322
► ENGLISH ABSTRACT: This thesis presents the development of a system for the cooperative navigation of severalAutonomous Ground Vehicles (AGVs) within the same environment. A high-level…
(more)
▼ ENGLISH ABSTRACT: This thesis presents the development of a system for the cooperative navigation of severalAutonomous Ground Vehicles (AGVs) within the same environment. A high-level systemarchitecture is designed that includes the following modular components: a cooperativetrajectory planner, a trajectory tracker, and a velocity controller. The cooperativetrajectory planner forms the highest level subsystem, and is responsible for finding collision-free trajectories for each vehicle. It does this using a decentralised coordination strategy,allowing for a more distributive and resilient system. The planning is accomplished foreach vehicle through the use of the Windowed Hierarchical Cooperative A* (WHCA*)multi-agent planning algorithm, modified so as to adhere to the kinematic constraintsof the vehicles. The second subsystem is the trajectory tracking module, which uses aModel Predictive Control (MPC) strategy to control the vehicles to track the plannedtrajectories, while also taking the kinematic constraints of the vehicle into account.Each of the subsystems were developed and tested using a simulation environmentmade with the ROS and Gazebo toolchain. This simulation environment was also used totest the overall performance of the integrated system. These tests were repeated using apractical setup with physical vehicles, so as to evaluate the performance of the system in areal world environment. In order to perform the practical tests, both the physical vehiclesand a vehicle pose estimation system were designed and built. The purpose of the vehiclepose estimation system was to find and track the pose of the vehicles, which was requiredby both the trajectory planning and tracking algorithms. The vehicle pose estimationwas accomplished through the use of the ArUco fiducial marker detection computer visionalgorithm.Both the simulation and practical tests show that the cooperative navigation algorithmswere able to successfully plan and execute trajectories using a decentralised coordinationstrategy, resulting in collision free navigation for all the vehicles involved. Both thetrajectory planning and the trajectory optimisation were able to execute within theirallowed time frame, which means the cooperative navigation system is viable for real-timeoperation.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwerp van ’n stelsel wat gebruik kan word vir die gedesentrali-seerde samewerkingsnavigasie van verskeie outonome grondvoertuie binne dieselfde omge-wing. ’n Stelselargitektuur op ho ̈e vlak is ontwerp wat die volgende modulˆere komponentebevat: ’n ko ̈operatiewe trajekbeplanner, ’n trajekuitvoerder, en ’n snelheidskontroleerder.Die ko ̈operatiewe trajekbeplanner vorm die hoogste stelsel en is verantwoordelik vir dievind van botsingsvrye trajekte vir elke voertuig. Dit word gedoen met behulp van ’ngedesentraliseerde ko ̈ordineringstrategie, wat ’n meer verspreidende en betroubare stelselmoontlik maak. Die beplanning word vir elke voertuig gedoen deur gebruik te maak vandie…
Advisors/Committee Members: Engelbrecht, Jacobus Adriaan Albertus, Engelbrecht, Herman Arnold, Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..
Subjects/Keywords: Cooperative navigation; Autonomous ground vehicles; Kinematics – Constraints; Model based predictive control; Trajectories (Mechanics); Collision avoidance systems; UCTD
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Viljoen, R. M. (2020). Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints. (Thesis). Stellenbosch University. Retrieved from http://hdl.handle.net/10019.1/109322
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Viljoen, Ruan Matthys. “Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints.” 2020. Thesis, Stellenbosch University. Accessed March 08, 2021.
http://hdl.handle.net/10019.1/109322.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Viljoen, Ruan Matthys. “Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints.” 2020. Web. 08 Mar 2021.
Vancouver:
Viljoen RM. Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints. [Internet] [Thesis]. Stellenbosch University; 2020. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10019.1/109322.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Viljoen RM. Cooperative navigation for multiple autonomous ground vehicles (AGVs) with kinematic constraints. [Thesis]. Stellenbosch University; 2020. Available from: http://hdl.handle.net/10019.1/109322
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
14.
Johansson, Jakob.
Modelling and control of an advanced camera gimbal.
Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-86173
► This thesis is about the modelling and control of three axis camera pan-roll-tilt unit (gimbal) which was meant to be attached to a multi…
(more)
▼ This thesis is about the modelling and control of three axis camera pan-roll-tilt unit (gimbal) which was meant to be attached to a multi rotor platform for aerial photography. The goal of the thesis was to develop a control structure for steering and active gyro stabilization of the gimbal, with aid from a mathematical model of the gimbal. Lagrange equations, together with kinematic equations and data from CAD drawings, were used to calculate a dynamics model of the gimbal. This model was set up as a Simulink simulation environment. Code for sensor reading and actuator control was written to the gimbal’s microprocessor and the code for the control structure in the gimbal was developed in parallel with a control structure in the simulation environment. The thesis resulted in a method for mathematical modelling of the gimbal and a control structure, for steering and active gyro stabilization of the gimbal, implemented in its control unit as well as in the simulation environment
Subjects/Keywords: Gimbal; control; modelling; kinematics; dynamics
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Johansson, J. (2012). Modelling and control of an advanced camera gimbal. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-86173
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Johansson, Jakob. “Modelling and control of an advanced camera gimbal.” 2012. Thesis, Linköping UniversityLinköping University. Accessed March 08, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-86173.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Johansson, Jakob. “Modelling and control of an advanced camera gimbal.” 2012. Web. 08 Mar 2021.
Vancouver:
Johansson J. Modelling and control of an advanced camera gimbal. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Mar 08].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-86173.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Johansson J. Modelling and control of an advanced camera gimbal. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-86173
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of New Mexico
15.
Cruz Davalos, Patricio J.
Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents.
Degree: Electrical and Computer Engineering, 2016, University of New Mexico
URL: http://hdl.handle.net/1928/33019
► By taking advantage of complementary communication technologies, distinct sensing functionalities and varied motion dynamics present in a heterogeneous multi-robotic network, it is possible to accomplish…
(more)
▼ By taking advantage of complementary communication technologies, distinct sensing functionalities and varied motion dynamics present in a heterogeneous multi-
robotic network, it is possible to accomplish a main mission objective by assigning specialized sub-tasks to specific members of a
robotic team. An adequate selection of the team members and an effective coordination are some of the challenges to fully exploit the unique capabilities that these types of systems can offer. Motivated by real world applications, we focus on a multi-
robotic network consisting off aerial and ground agents which has the potential to provide critical support to humans in complex settings. For instance, aerial
robotic relays are capable of transporting small ground mobile sensors to expand the communication range and the situational awareness of first responders in hazardous environments.
In the first part of this dissertation, we extend work on manipulation of cable-suspended loads using aerial robots by solving the problem of lifting the cable-suspended load from the ground before proceeding to transport it. Since the suspended load-quadrotor system experiences switching conditions during this critical maneuver, we define a hybrid system and show that it is differentially-flat. This property facilitates the design of a nonlinear controller which tracks a waypoint-
based trajectory associated with the discrete states of the hybrid system. In addition, we address the case of unknown payload mass by combining a least-squares estimation method with the designed controller.
Second, we focus on the coordination of a heterogeneous team formed by a group of ground mobile sensors and a flying communication router which is deployed to sense areas of interest in a cluttered environment. Using potential field methods, we propose a controller for the coordinated mobility of the team to guarantee inter-robot and obstacle collision avoidance as well as connectivity maintenance among the ground agents while the main goal of sensing is carried out. For the case of the aerial communications relays, we combine antenna diversity with reinforcement learning to dynamically re-locate these relays so that the received signal strength is maintained above a desired threshold.
Motivated by the recent interest of combining radio frequency and optical wireless communications, we envision the implementation of an optical link between micro-scale aerial and ground robots. This type of link requires maintaining a sufficient relative transmitter-receiver position for reliable communications. In the third part of this thesis, we tackle this problem.
Based on the link model, we define a connectivity cone where a minimum transmission rate is guaranteed. For example, the aerial robot has to track the ground vehicle to stay inside this cone. The
control must be robust to noisy measurements. Thus, we use particle filters to obtain a better estimation of the receiver position and we design a
control algorithm for the flying robot to enhance the transmission rate. Also, we…
Advisors/Committee Members: Fierro, Rafael, Oishi, Meeko, Tapia, Lydia, Sadler, Brian.
Subjects/Keywords: Heterogeneous Robotic Agents; Robotic Networks; Coordinated Control; Connectivity Maintenance; Lift Maneuver
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APA (6th Edition):
Cruz Davalos, P. J. (2016). Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents. (Doctoral Dissertation). University of New Mexico. Retrieved from http://hdl.handle.net/1928/33019
Chicago Manual of Style (16th Edition):
Cruz Davalos, Patricio J. “Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents.” 2016. Doctoral Dissertation, University of New Mexico. Accessed March 08, 2021.
http://hdl.handle.net/1928/33019.
MLA Handbook (7th Edition):
Cruz Davalos, Patricio J. “Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents.” 2016. Web. 08 Mar 2021.
Vancouver:
Cruz Davalos PJ. Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents. [Internet] [Doctoral dissertation]. University of New Mexico; 2016. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/1928/33019.
Council of Science Editors:
Cruz Davalos PJ. Exploiting Heterogeneity in Networks of Aerial and Ground Robotic Agents. [Doctoral Dissertation]. University of New Mexico; 2016. Available from: http://hdl.handle.net/1928/33019

Georgia Tech
16.
Henderson, Gregory Clark.
Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans.
Degree: MS, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/47624
► A control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback…
(more)
▼ A
control method is proposed for exercising specific muscles of a human's lower body. This is accomplished using an exoskeleton that imposes active force feedback
control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual
control of mono-articular or bi-articular muscles to be exercised while not inhibiting the
subject's range of motion.
The
control method has been implemented in a 1-Degree of Freedom (DOF) exoskeleton that is designed to resist the motion of the human knee by applying actuator forces in opposition to a specified muscle force profile. In this research, there is a discussion on the model of the human's lower body and how muscles are affected as a function of joint positions. Then it is discussed how to calculate for the forces needed by a pneumatic actuator to oppose the muscles to create the desired muscle force profile at a given joint angles. The proposed exoskeleton could be utilized either for rehabilitation purposes, to prevent muscle atrophy and bone loss of astronauts, or for muscle training in general.
Advisors/Committee Members: Ueda, Jun (Committee Chair), Book, Wayne (Committee Member), Shinohara, Minoru (Committee Member).
Subjects/Keywords: Robotic exoskeleton; Muscle control; Pneumatics; Resistive; Robotic exoskeletons; Physical therapy
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Chicago ·
MLA ·
Vancouver ·
CSE |
Export
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APA (6th Edition):
Henderson, G. C. (2012). Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/47624
Chicago Manual of Style (16th Edition):
Henderson, Gregory Clark. “Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans.” 2012. Masters Thesis, Georgia Tech. Accessed March 08, 2021.
http://hdl.handle.net/1853/47624.
MLA Handbook (7th Edition):
Henderson, Gregory Clark. “Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans.” 2012. Web. 08 Mar 2021.
Vancouver:
Henderson GC. Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans. [Internet] [Masters thesis]. Georgia Tech; 2012. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/1853/47624.
Council of Science Editors:
Henderson GC. Pneumatically-powered robotic exoskeleton to exercise specific lower extremity muscle groups in humans. [Masters Thesis]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/47624

University of Michigan
17.
Deshpande, Ashish D.
Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective.
Degree: PhD, Mechanical engineering, 2007, University of Michigan
URL: http://hdl.handle.net/2027.42/126408
► Multi-body interactions and environmental contacts in robotic systems make the analysis of such systems challenging. We present an approach for kinematics and dynamics analysis of…
(more)
▼ Multi-body interactions and environmental contacts in
robotic systems make the analysis of such systems challenging. We present an approach for
kinematics and dynamics analysis of
robotic systems that exposes the critical design issues. We demonstrate that the approach is generic, and amenable for
control synthesis. We start out with the development of a team of mobile robots in which the robots physically cooperative to improve mobility for search and rescue missions. Understanding the specific needs of such missions we introduce the idea of using robot wheel torques to achieve cooperation thus avoiding the need for additional actuation. To this end we propose a novel connecting link mechanism and we demonstrate cooperative maneuvers involving two robots with a prototype hardware system. Using the hardware and the analytical models we expose critical design issues related to the cooperation. Specifically, we prove that in order to achieve cooperative behaviors high friction is necessary at the points of contact of robots with the environment; and that robot system dynamics can be exploited to relax the stringent friction requirements. To systematically analyze and design cooperative behaviors, and to be able to generalize the ideas of cooperative mobility, we developed a method called P-Robot, Method. By treating the linked bodies of mobile robots as a multiple degree-of-freedom object comprising an articulated open kinematic chain, and by introducing the concept of pseudo robots at the ground interaction points, the P-robot Method allows for a decoupled approach to analyzing a team of mobile robots. Using the P-robot Method, we have carried out statics as well as dynamics analysis for the 2-robot and 3-robot cooperation cases. Applicability of the P-robot Method is extendible to general
robotic systems. We demonstrate this by employing the method to analyze four examples of mechanical systems that are representative of many classes of
robotic systems. The analysis of each example requires some modification of the method, and leads to interesting insights into the respective system, and the method itself. We propose and demonstrate with two examples that controllers can be designed for
robotic systems
based on
kinematics and dynamics analysis using the P-robot Method.
Advisors/Committee Members: Luntz, Jonathan E. (advisor).
Subjects/Keywords: Analyze; Based; Design; Dynamics; Kinematics; Methods; Mobile Robots; Perspective; Pseudo; Robot; Robotic Systems; Search And Rescue
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Deshpande, A. D. (2007). Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective. (Doctoral Dissertation). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/126408
Chicago Manual of Style (16th Edition):
Deshpande, Ashish D. “Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective.” 2007. Doctoral Dissertation, University of Michigan. Accessed March 08, 2021.
http://hdl.handle.net/2027.42/126408.
MLA Handbook (7th Edition):
Deshpande, Ashish D. “Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective.” 2007. Web. 08 Mar 2021.
Vancouver:
Deshpande AD. Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective. [Internet] [Doctoral dissertation]. University of Michigan; 2007. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/2027.42/126408.
Council of Science Editors:
Deshpande AD. Pseudo robot based methods to analyze kinematics and dynamics of robotic systems from a design perspective. [Doctoral Dissertation]. University of Michigan; 2007. Available from: http://hdl.handle.net/2027.42/126408
18.
Malzahn, Jörn.
Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction.
Degree: 2014, Technische Universität Dortmund
URL: http://dx.doi.org/10.17877/DE290R-6590
► Link elasticity is frequently considered an undesired effect in the mechanical design of robot arms and comparable machines. The driving motivator behind this work originates…
(more)
▼ Link elasticity is frequently considered an undesired effect in the mechanical design of robot arms and comparable machines. The driving motivator behind this work originates from the contrary perspective of exploiting the intrinsic compliance to grant elastic link robots force sensing capabilities and to simultaneously reduce the overall arm masses. The underlying hypothesis proposes that link elasticity is not necessarily just a problem, which degrades positioning accuracy and prolongs settling times. The present work contributes new theoretical concepts confirmed by extensive experimental results in the fields of oscillation damping and end effector positioning for a multi-elastic-link arm in the presence of load and joint configuration dependent static deflections. On top of that, the work practically demonstrates the general feasibility of detecting and reacting to external contact forces with a multi elastic link robot operating under
gravity. The contact scenarios include unpredicted or accidental collisions between the robot and the environment as well as intentional contacts for physical human robot interaction.
Advisors/Committee Members: Bertram, Torsten (advisor), Corves, Burkhard (referee).
Subjects/Keywords: Flexible link arms; Oscillation damping; Wave based control; Fractional order control; Inverse kinematics; Visual servoing; Collision detection; Elastic multi-body dynamics; Physical human robot interaction; 620
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Malzahn, J. (2014). Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction. (Doctoral Dissertation). Technische Universität Dortmund. Retrieved from http://dx.doi.org/10.17877/DE290R-6590
Chicago Manual of Style (16th Edition):
Malzahn, Jörn. “Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction.” 2014. Doctoral Dissertation, Technische Universität Dortmund. Accessed March 08, 2021.
http://dx.doi.org/10.17877/DE290R-6590.
MLA Handbook (7th Edition):
Malzahn, Jörn. “Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction.” 2014. Web. 08 Mar 2021.
Vancouver:
Malzahn J. Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction. [Internet] [Doctoral dissertation]. Technische Universität Dortmund; 2014. [cited 2021 Mar 08].
Available from: http://dx.doi.org/10.17877/DE290R-6590.
Council of Science Editors:
Malzahn J. Modeling and control of multi-elastic-link robots under gravity: from oscillation damping and position control to physical interaction. [Doctoral Dissertation]. Technische Universität Dortmund; 2014. Available from: http://dx.doi.org/10.17877/DE290R-6590
19.
Gudla, Arun Gowtham.
A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods.
Degree: MA, Industrial and Manufacturing Systems
Engineering, 2012, National Library of Canada
URL: http://scholar.uwindsor.ca/etd/4809
► The work envelope of a robot does not capture the effect of tool orientation. Applications will require the tool to be at a certain orientation…
(more)
▼ The work envelope of a robot does not capture
the effect of tool orientation. Applications will require the tool
to be at a certain orientation to perform the tasks necessary. It
is therefore important to introduce a parameter that can capture
the effect of orientation for multiple robots and configurations.
This is called the functional work space, which is a subset of the
work envelope would capture the effect of orientation. This
research discusses the development of establishing an assessment
tool that can predict the functional work space of a robot for a
certain tool-orientation pair thus aiding in proper tool, tool
path, fixture, related configuration selection and placement.
Several solutions are studied and an analytical and a geometric
solution is presented after a detailed study of joint dependencies,
joint movements, limits, link lengths and displacements through
visual, empirical and analytical approaches. The functional
workspace curve for a manipulator with similar kinematic structure
can be created using the geometrical solution discussed in this
research. It is difficult to derive a general paradigm since
different parameters such as, joint limits, angles and twist angles
seem to have a different effect on the shape of the workspace. The
geometrical solution employed is simple, easy to deduce and can be
simulated with a commercial software package. Design decisions
pertaining to configuration and reconfiguration of manipulators
will benefit by employing the solution as a design/analysis tool. A
case study involving an X-ray diffraction technique goniometer is
presented to highlight the merits of this
work.
Advisors/Committee Members: Jill Urbanic.
Subjects/Keywords: Applied sciences; Forward kinematics; Functional workspace; Open kinematic chains; Robotic/machine placement; Robotic workspace; Serial manipulators
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Gudla, A. G. (2012). A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods. (Masters Thesis). National Library of Canada. Retrieved from http://scholar.uwindsor.ca/etd/4809
Chicago Manual of Style (16th Edition):
Gudla, Arun Gowtham. “A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods.” 2012. Masters Thesis, National Library of Canada. Accessed March 08, 2021.
http://scholar.uwindsor.ca/etd/4809.
MLA Handbook (7th Edition):
Gudla, Arun Gowtham. “A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods.” 2012. Web. 08 Mar 2021.
Vancouver:
Gudla AG. A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods. [Internet] [Masters thesis]. National Library of Canada; 2012. [cited 2021 Mar 08].
Available from: http://scholar.uwindsor.ca/etd/4809.
Council of Science Editors:
Gudla AG. A methodology to determine the functional workspace of a 6R
robot using forward kinematics and geometrical methods. [Masters Thesis]. National Library of Canada; 2012. Available from: http://scholar.uwindsor.ca/etd/4809

Brno University of Technology
20.
Štábl, Martin.
Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3.
Degree: 2019, Brno University of Technology
URL: http://hdl.handle.net/11012/39141
► This work deal with controlling of robotic arm EPSON both in terms of forward and inverse kinematics. The work describes the procedures how these kinematic…
(more)
▼ This work deal with controlling of
robotic arm EPSON both in terms of forward and inverse
kinematics. The work describes the procedures how these kinematic chains solved with using knowledge homogeneous transformation. Subsequently are the results of the work simulated using program MatLAB with his toolkit Simulink.
Advisors/Committee Members: Šolc, František (advisor), Burian, František (referee).
Subjects/Keywords: Kinematika; robotické rameno; homogenní transformace; přímá úloha kinematiky; inverzní úloha kinematiky; Kinematics; robotic arm; homogeneous transformations; forward kinematics; inverse kinematic
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
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APA (6th Edition):
Štábl, M. (2019). Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/39141
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Štábl, Martin. “Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3.” 2019. Thesis, Brno University of Technology. Accessed March 08, 2021.
http://hdl.handle.net/11012/39141.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Štábl, Martin. “Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3.” 2019. Web. 08 Mar 2021.
Vancouver:
Štábl M. Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/11012/39141.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Štábl M. Řešení kinematických úloh robota EPSON PROSIX C3: Direct and Inverse kinematics of robot EPSON PROSIX C3. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/39141
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
21.
Paulo Henrique Crippa.
Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora.
Degree: 2011, Universidade de Taubaté
URL: http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263
► O objetivo deste trabalho é desenvolver um sistema de controle capaz de realizar o apontamento automático de uma antena parabólica de forma mais precisa e…
(more)
▼ O objetivo deste trabalho é desenvolver um sistema de controle capaz de realizar o apontamento automático de uma antena parabólica de forma mais precisa e com menor tempo de apontamento quando comparado ao apontamento manual. A antena parabólica em estudo consta de uma parábola metálica de 1.60 m de diâmetro, base de sustentação em ferro, dois conjuntos de engrenagens e dois motores elétricos para realização dos movimentos. Os parâmetros físicos do sistema mecânico, tais como massa, volume e inércia, puderam ser facilmente obtidos a partir de uma modelagem tridimensional em um software de plataforma CAD. Para a modelagem dinâmica do sistema utilizou-se a similaridade do sistema físico em estudo com um manipulador de cadeia aberta de dois graus de liberdade o que permitiu que se aplicassem conceitos referentes a cinemática e modelagem de manipuladores robóticos. Através da notação de Denavit-Hartenberg a cinemática direta da antena com dois graus de liberdade foi obtida com sucesso. As equações dinâmicas que descrevem o movimento do sistema foram levantadas através de um modelador automático implementado em um software de manipulação simbólica. Para tanto foi desenvolvido um algoritmo que descreve os passos necessários para obtenção das equações de movimento de um manipulador robótico em cadeia aberta, a partir da formulação Lagrangeana. Um sistema de controle adaptativo por modelo de referência foi projetado e implementado considerando as incertezas do modelo oriundas de imperfeições contidas na modelagem tridimensional realizada. Os resultados obtidos por simulação do sistema de controle adaptativo se mostraram satisfatórios e os índices de desempenho esperados para um perfeito apontamento foram alcançados.
The objective of this work is to develop a control system capable of performing the automatic maneuver of a satellite dish more accurately with less time maneuvering when compared to manual maneuver. The dish consists of a study on metal parabola 1.60 m in diameter, base of support in iron, two sets of gears and two electric motors to perform the movements. The physical parameters of the mechanical system, such as mass, volume and inertia could be easily obtained from a three-dimensional modeling in a CAD software platform. For modeling the system dynamics we used the similarity of the physical system under study with an open chain manipulator of two degrees of freedom that allowed it to apply concepts related to kinematics and modeling of robotic manipulators. Through the Denavit-Hartenberg notation of the direct kinematics of the antenna with two degrees of freedom was successfully obtained. The dynamic equations describing the motion of the system were raised through an automatic model implemented in symbolic manipulation software. To that end, an algorithm that describes the steps necessary to obtain the equations of motion of a robotic manipulator in open chain, from the Lagrangian method, was developed. A model reference adaptive control system was designed and implemented considering the uncertainties…
Advisors/Committee Members: Alvaro Manoel de Souza Soares, Francisco Antonio Lotufo, João Bosco Gonçalves.
Subjects/Keywords: manipuladores robóticos em cadeia aberta; cinemática direta; equações dinâmicas de movimento; sistemas de controle adaptativo; serial robotic manipulators; direct kinematics; equations of motion; adaptive control systems; AUTOMACAO ELETRONICA DE PROCESSOS ELETRICOS E INDUSTRIAIS
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Crippa, P. H. (2011). Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora. (Thesis). Universidade de Taubaté. Retrieved from http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Crippa, Paulo Henrique. “Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora.” 2011. Thesis, Universidade de Taubaté. Accessed March 08, 2021.
http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Crippa, Paulo Henrique. “Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora.” 2011. Web. 08 Mar 2021.
Vancouver:
Crippa PH. Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora. [Internet] [Thesis]. Universidade de Taubaté; 2011. [cited 2021 Mar 08].
Available from: http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Crippa PH. Projeto de um sistema de controle adaptativo para apontamento automático de uma antena parabólica receptora. [Thesis]. Universidade de Taubaté; 2011. Available from: http://www.bdtd.unitau.br/tedesimplificado/tde_busca/arquivo.php?codArquivo=263
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
22.
Khakpour, Zahra.
Multibody dynamics model of a full human body for simulating walking.
Degree: 2017, IUPUI
URL: http://hdl.handle.net/1805/12379
► Indiana University-Purdue University Indianapolis (IUPUI)
Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor:…
(more)
▼ Indiana University-Purdue University Indianapolis (IUPUI)
Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri.
Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains.
In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model:
1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot.
2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait.
3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links.
The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law.
In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over).
A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup.
Advisors/Committee Members: El-Mounayri, Hazim.
Subjects/Keywords: Multibody Dynamic; Simulation; Control; Humanoid; Robot; Robotic; Inverse Kinematics; Bipedal Robot; Asperity Friction; 4-legged Robot
…development of the control system in kinematics approach, and the
simulation setup.
1
1… …kinematics-based approaches are still applied
in commercial applications cite15. Significant… …cyclic motion, there is an important effect of the control law used. Control
law based on a… …13
1.3
Interfaces Between Three Main Control Methods . . . . . . . . . . . . . . 14
2.1… …49
4.2
Forward Step Figure with Control Points . . . . . . . . . . . . . . . . . . . 56…
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Khakpour, Z. (2017). Multibody dynamics model of a full human body for simulating walking. (Thesis). IUPUI. Retrieved from http://hdl.handle.net/1805/12379
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Khakpour, Zahra. “Multibody dynamics model of a full human body for simulating walking.” 2017. Thesis, IUPUI. Accessed March 08, 2021.
http://hdl.handle.net/1805/12379.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Khakpour, Zahra. “Multibody dynamics model of a full human body for simulating walking.” 2017. Web. 08 Mar 2021.
Vancouver:
Khakpour Z. Multibody dynamics model of a full human body for simulating walking. [Internet] [Thesis]. IUPUI; 2017. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/1805/12379.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Khakpour Z. Multibody dynamics model of a full human body for simulating walking. [Thesis]. IUPUI; 2017. Available from: http://hdl.handle.net/1805/12379
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Stellenbosch University
23.
Heunis, Jacobus Stephanus.
A user interface for a seven degree of freedom surgical robot.
Degree: MScEng, Mechanical and Mechatronic Engineering, 2012, Stellenbosch University
URL: http://hdl.handle.net/10019.1/71833
► ENGLISH ABSTRACT: This thesis describes the process of developing a user interface for a seven degree of freedom (DOF), minimally invasive surgical robot. For the…
(more)
▼ ENGLISH ABSTRACT: This thesis describes the process of developing a user interface for a seven
degree of freedom (DOF), minimally invasive surgical robot. For the first two main
stages of the overall project, completed by previous students, a primary slave
manipulator (PSM) and a secondary slave manipulator (SSM) were developed.
The stage in this thesis concentrates on creating a joystick that can control the
combined movement of the PSM and SSM.
Background information on the field of robotic surgery, with specific reference to
current systems’ user interfaces, is given and the technical aspects of the PSM
and SSM are determined. This is followed by the motivation and main objectives
of the thesis. Objectives were divided into the main categories of mechanical
design, electronic design, control system design and testing.
The mechanical design of the joystick progresses through a concept
development stage, before a final seven DOF articulated arm design is presented
and evaluated based on engineering specifications. Aluminium is used as the
construction material; electromagnetic brakes are specified for each joint, leading
to the final assembly, which is a constructed joystick fulfilling all requirements.
The electronic design implements magnetic rotary encoders for the joystick’s
position and orientation tracking as well as designs of the necessary power and
control circuitry to enable correct joystick functioning. The interfacing of the PSM
and SSM had to enable successful communication capabilities between the
master and the slave. Several necessary adjustments were therefore made to the
slave system, after which the joystick and robot were electronically interfaced to
provide a direct serial communication line.
For control system design, the joystick and robot were modelled according to the
Denavit-Hartenberg principle, which allows direct relation between the position
and orientation of the respective end effectors on the joystick and robot sides.
Forward kinematic equations were then applied to the joystick; the desired
position and orientation of the robot end effector were determined, and inverse
kinematic equations were applied to these data to establish the robot’s joint
variables. This stage ended with the development of two operational modes: one
where only the SSM motors are controlled in order for the slave to follow the
master’s movements, and the other where the PSM’s motors are controlled
separately. The simultaneous control of all robot motors could not be
demonstrated due to fundamental mechanical flaws in the PSM and SSM
designs. Finally, testing was undertaken to demonstrate movement control of the robot by
the joystick. The intuitiveness of the product was also tested successfully. The
study ends with the presentation of the conclusions, the main conclusions being
the successful development and testing of a joystick that controls the movement
of a surgical robot, as well as the achievement of all main thesis objectives.
AFRIKAANSE OPSOMMING: Hierdie tesis…
Advisors/Committee Members: Scheffer, C., Schreve, K., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering..
Subjects/Keywords: Mechatronic engineering; Robotic surgery – Control systems
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Heunis, J. S. (2012). A user interface for a seven degree of freedom surgical robot. (Masters Thesis). Stellenbosch University. Retrieved from http://hdl.handle.net/10019.1/71833
Chicago Manual of Style (16th Edition):
Heunis, Jacobus Stephanus. “A user interface for a seven degree of freedom surgical robot.” 2012. Masters Thesis, Stellenbosch University. Accessed March 08, 2021.
http://hdl.handle.net/10019.1/71833.
MLA Handbook (7th Edition):
Heunis, Jacobus Stephanus. “A user interface for a seven degree of freedom surgical robot.” 2012. Web. 08 Mar 2021.
Vancouver:
Heunis JS. A user interface for a seven degree of freedom surgical robot. [Internet] [Masters thesis]. Stellenbosch University; 2012. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10019.1/71833.
Council of Science Editors:
Heunis JS. A user interface for a seven degree of freedom surgical robot. [Masters Thesis]. Stellenbosch University; 2012. Available from: http://hdl.handle.net/10019.1/71833

University of Illinois – Chicago
24.
Fisher Bittmann, Moria F.
Customized Robotic Training Approaches Using the Statistics of Reaching Errors.
Degree: 2016, University of Illinois – Chicago
URL: http://hdl.handle.net/10027/20857
► While upper extremity training with haptic and visual feedback has been shown to assist in restoring function for individuals with stroke and related brain injuries…
(more)
▼ While upper extremity training with haptic and visual feedback has been shown to assist in restoring function for individuals with stroke and related brain injuries (Teasell, Foley, Bhogal, & Speechley, 2003), outcomes vary greatly amongst individuals. Recent studies have found that manipulating error signals during training can stimulate learning. In order to improve current methods, we believe that it is necessary to customize haptic and visual interactions to address individual motor impairments. We can customize training using the statistics of errors, intervening only on the most commonly occurring errors. In addition to rehabilitation, this technique can be applied to situations where error feedback is needed, such as learning new skills.
The primary goal of this thesis is to develop better training interventions to facilitate motor learning. Addressing the need for training tools for both skill learning and therapy, we explore strategies for improving upon current training paradigms. In the first study we show how force adaptation can cause participants to reach with the errors that are necessary for moving in a visually rotated scene. In the second study, we determine the best domain to represent error tendencies during learning. In the third study, we test how error statistics can enhance learning of a novel visual transformation. In the fourth study, we conduct a preliminary investigation using error statistics to customize training interventions for stroke survivors. Our results will contribute a basic understanding on how we can use error statistics to improve training environments and effect functional recovery.
Advisors/Committee Members: Patton, James L. (advisor), Huang, Felix C. (committee member), Mussa-Ivaldi, Ferdinando A. (committee member), Hetling, John R. (committee member), Hornby, Thomas G. (committee member), Corcos, Daniel M. (committee member).
Subjects/Keywords: Motor control; learning; robotic training; haptic feedback
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Fisher Bittmann, M. F. (2016). Customized Robotic Training Approaches Using the Statistics of Reaching Errors. (Thesis). University of Illinois – Chicago. Retrieved from http://hdl.handle.net/10027/20857
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Fisher Bittmann, Moria F. “Customized Robotic Training Approaches Using the Statistics of Reaching Errors.” 2016. Thesis, University of Illinois – Chicago. Accessed March 08, 2021.
http://hdl.handle.net/10027/20857.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Fisher Bittmann, Moria F. “Customized Robotic Training Approaches Using the Statistics of Reaching Errors.” 2016. Web. 08 Mar 2021.
Vancouver:
Fisher Bittmann MF. Customized Robotic Training Approaches Using the Statistics of Reaching Errors. [Internet] [Thesis]. University of Illinois – Chicago; 2016. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10027/20857.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Fisher Bittmann MF. Customized Robotic Training Approaches Using the Statistics of Reaching Errors. [Thesis]. University of Illinois – Chicago; 2016. Available from: http://hdl.handle.net/10027/20857
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Rice University
25.
Pehlivan, Ali Utku.
Subject Adaptive Control Paradigms for Robotic Rehabilitation.
Degree: PhD, Engineering, 2016, Rice University
URL: http://hdl.handle.net/1911/96617
► As the majority of the activities of daily living involve distal upper extremity movement, eff ective rehabilitation of the upper limbs, especially the distal joints,…
(more)
▼ As the majority of the activities of daily living involve distal upper extremity movement, eff ective rehabilitation of the upper limbs, especially the distal joints, is crucial. Due to their inherent capabilities to deliver intensive and repetitive therapy,
robotic devices are increasingly being used for the rehabilitation of neurologically impaired individuals. However, not every
robotic device or therapy protocol has been shown to promote plasticity-mediated recovery. It is necessary that the
robotic therapy must be capable of engaging the participant. Furthermore, the mechanical design of the
robotic device must exhibit specifi c properties, such as low apparent inertia and friction, isotropic dynamic characteristics, and minimal backlash, to support sophisticated interaction modes. In this thesis a
subject adaptive controller, capable of adaptively estimating position-dependent
subject input and providing only the required amount of assistance is presented. This controller aims to maximize the participants' engagement in their therapy. Features of the controller were validated via simulations and experiments, and clinical validation was conducted with an elbow-forearm-wrist exoskeleton, the MAHI Exo-II. Results highlighted limitations in both the hardware's
workspace and in the controller's performance. To address this limitations a novel wrist-forearm exoskeleton, the RiceWrsit-S, is proposed and an improved minimally
assistive (mAAN) controller is presented. The controller is capable of estimating
subject input as a function of time, hence it can estimate
subject input regardless of position dependency, as opposed to the
subject adaptive controller proposed in the rst part of the thesis. Novel features of the controller algorithm for maintaining
subject engagement via performance
based challenge modulation while still satisfying
ultimately bounded error performance are presented. The mAAN controller
and consistency of the accompanying algorithms are demonstrated experimentally with healthy subjects and with one
subject with incomplete spinal cord injury in the RiceWrist-S. The proposed controllers and the novel exoskeletal device provide a means for a more eff ective robot-aided rehabilitation of neurologically impaired
individuals.
Advisors/Committee Members: O'Malley, Marcia K (advisor).
Subjects/Keywords: Robotics; Nonlinear Control; Exoskeletal Devices; Robotic Rehabilitation
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Pehlivan, A. U. (2016). Subject Adaptive Control Paradigms for Robotic Rehabilitation. (Doctoral Dissertation). Rice University. Retrieved from http://hdl.handle.net/1911/96617
Chicago Manual of Style (16th Edition):
Pehlivan, Ali Utku. “Subject Adaptive Control Paradigms for Robotic Rehabilitation.” 2016. Doctoral Dissertation, Rice University. Accessed March 08, 2021.
http://hdl.handle.net/1911/96617.
MLA Handbook (7th Edition):
Pehlivan, Ali Utku. “Subject Adaptive Control Paradigms for Robotic Rehabilitation.” 2016. Web. 08 Mar 2021.
Vancouver:
Pehlivan AU. Subject Adaptive Control Paradigms for Robotic Rehabilitation. [Internet] [Doctoral dissertation]. Rice University; 2016. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/1911/96617.
Council of Science Editors:
Pehlivan AU. Subject Adaptive Control Paradigms for Robotic Rehabilitation. [Doctoral Dissertation]. Rice University; 2016. Available from: http://hdl.handle.net/1911/96617

University of Melbourne
26.
Sebastian, Gijo.
Feedback-based iterative learning control for constrained systems with application to robotic manipulators.
Degree: 2019, University of Melbourne
URL: http://hdl.handle.net/11343/224350
► Iterative learning control (ILC) is an advanced control algorithm that achieves tracking of the desired reference trajectory through repetitions without using the precise knowledge of…
(more)
▼ Iterative learning control (ILC) is an advanced control algorithm that achieves tracking of the desired reference trajectory through repetitions without using the precise knowledge of the dynamic systems. In a feed-forward ILC algorithm, the tracking errors from the past trials are utilized for learning the control input. Even though the method is simple to implement and analyse, the transient error in the iteration-domain is usually not regulated. In a feedback-based ILC, a feedback (or tracking error of current trial) is incorporated with a feed-forward ILC to improve the transient behaviour as well as providing more design freedom and robustness to non-repeatable disturbances. When the system of interest is nonlinear with input and output constraints, the convergence analysis of ILC becomes more complex due to the existence of feedback in the control structure. The thesis investigates how these constraints can be handled in such a feedback-based ILC scheme with a limited model information.
The thesis proposes novel learning control architectures and analysis methods to separately handle input constraints and output constraints for a class of nonlinear dynamic systems with rigorous convergence analysis. The contributions of this thesis are presented in two parts. The first part proposes a novel structure that can handle input constraints in a feedback-based ILC system in a systematic manner. The second part proposes a barrier function based feedback design in ILC that can ensure the satisfaction of output constraints during the learning process. For simplicity and consistency of the thesis, the focus here is on the continuous-time plant model.
The main contributions of the thesis are summarised as follows:
1. When dealing with input constraints for a feedback-based ILC, a new composite energy function is proposed to ensure the convergence and boundedness of trajectories. This new CEF can be used to unify the two design methods: Contraction Mapping and Composite Energy Function.
2. Barrier-Lyapunov function is employed to address hard output constraints in a feedback-based ILC scheme.
3. The proposed algorithms have been tested on a robotic manipulator platform.
The simulation and experimental results have shown that the proposed feedback based ILC can handle input and output constraints with limited knowledge of the system. Hence the proposed methods can be applied to a large class of engineering systems when the precise models are hard to obtain.
Subjects/Keywords: iterative learning control; robotic manipulators; constrained systems
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Sebastian, G. (2019). Feedback-based iterative learning control for constrained systems with application to robotic manipulators. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/224350
Chicago Manual of Style (16th Edition):
Sebastian, Gijo. “Feedback-based iterative learning control for constrained systems with application to robotic manipulators.” 2019. Doctoral Dissertation, University of Melbourne. Accessed March 08, 2021.
http://hdl.handle.net/11343/224350.
MLA Handbook (7th Edition):
Sebastian, Gijo. “Feedback-based iterative learning control for constrained systems with application to robotic manipulators.” 2019. Web. 08 Mar 2021.
Vancouver:
Sebastian G. Feedback-based iterative learning control for constrained systems with application to robotic manipulators. [Internet] [Doctoral dissertation]. University of Melbourne; 2019. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/11343/224350.
Council of Science Editors:
Sebastian G. Feedback-based iterative learning control for constrained systems with application to robotic manipulators. [Doctoral Dissertation]. University of Melbourne; 2019. Available from: http://hdl.handle.net/11343/224350

UCLA
27.
Chen, Cheng-Wei.
Automation and Precision Control for Intraocular Robotic Interventional Surgical System.
Degree: Mechanical Engineering, 2018, UCLA
URL: http://www.escholarship.org/uc/item/5880f36f
► To improve surgical outcomes and reduce surgical complications in intraocular surgery, an optical coherence tomography (OCT) imaging system is integrated into the intraocular robotic interventional…
(more)
▼ To improve surgical outcomes and reduce surgical complications in intraocular surgery, an optical coherence tomography (OCT) imaging system is integrated into the intraocular robotic interventional surgical system (IRISS). The OCT images are used for preoperative planning and intraoperative intervention in a series of automated procedures. High-precision motion control of the robot manipulator is enabled by leveraging learning-type control algorithms to the data-based feedforward filter design. Real-time intervention allows a surgeon to evaluate the surgical progress and manually override the autonomous tracking of the predefined trajectory. The developed system was experimentally validated by performing lens extraction, which is a critical surgical step in cataract surgery, on 30 post-mortem pig eyes. Complete lens extraction was achieved on 25 eyes, and ``almost complete'' extraction was achieved on the rest due to the inability of the OCT to image minute-sized particles of lens behind the iris. No posterior capsule rupture occurred for any of the 30 pig eyes. This work successfully demonstrated automated OCT-guided intraocular surgery using a robotic surgical system.
Subjects/Keywords: Robotics; Medical imaging; Mechanical engineering; automated cataract surgery; data-based feedforward filtering; OCT-guided surgery; precision motion control; robot-assisted ophthalmic surgery; robotic surgery
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Chen, C. (2018). Automation and Precision Control for Intraocular Robotic Interventional Surgical System. (Thesis). UCLA. Retrieved from http://www.escholarship.org/uc/item/5880f36f
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Chen, Cheng-Wei. “Automation and Precision Control for Intraocular Robotic Interventional Surgical System.” 2018. Thesis, UCLA. Accessed March 08, 2021.
http://www.escholarship.org/uc/item/5880f36f.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Chen, Cheng-Wei. “Automation and Precision Control for Intraocular Robotic Interventional Surgical System.” 2018. Web. 08 Mar 2021.
Vancouver:
Chen C. Automation and Precision Control for Intraocular Robotic Interventional Surgical System. [Internet] [Thesis]. UCLA; 2018. [cited 2021 Mar 08].
Available from: http://www.escholarship.org/uc/item/5880f36f.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Chen C. Automation and Precision Control for Intraocular Robotic Interventional Surgical System. [Thesis]. UCLA; 2018. Available from: http://www.escholarship.org/uc/item/5880f36f
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Melbourne
28.
Shaw Cortez, Wenceslao Eric.
Robust Object Manipulation for Fully-Actuated Robotic Hands.
Degree: 2019, University of Melbourne
URL: http://hdl.handle.net/11343/233378
► Object manipulation is the ability to rotate/translate an object held within a grasp. Humans have exploited this ability to effectively use tools and interact with…
(more)
▼ Object manipulation is the ability to rotate/translate an object held within a grasp. Humans have exploited this ability to effectively use tools and interact with the environment. Over the past decades, robotics research has worked to translate object manipulation capabilities to robotic hands. Applications of object manipulation for robotic hands include autonomous manipulation, teleoperation in extreme environments, and prosthetics. Despite advancements made, robotic hand research has not yet progressed to handle uncertainties found in the real world. Many existing grasp methods to control robotic hands require a priori information and high fidelity sensors typically restricted to laboratory settings. The objective of this thesis is to develop robust means of object manipulation for robotic hands.
This thesis focuses on the concept of tactile-based blind grasping to address robustness concerns in real-world applications. In tactile-based blind grasping, the robotic hand only has access to proprioceptive (joint angle) and tactile measurements. No a priori information about the object is known. This reflects real-world applications, such as prosthetics, where disturbances in the form of uncertain object models are part of everyday use.
In this dissertation, novel object manipulation control methods are developed for robotic hands in tactile-based blind grasping. The first method ensures stability of the hand-object system to a desired object pose despite uncertain object weight, shape, center of mass, and contact locations. The second method is an extension of the first, but also ensures the contact points do not slip during the manipulation motion. The final control addresses all grasp conditions that must be satisfied, including slip, to ensure the grasp does not fail during manipulation. This final control is applicable not only to the control methods presented here, but to most manipulation controllers developed in the literature. The proposed controllers are presented with associated stability guarantees and validated in simulation and hardware.
Subjects/Keywords: robotic grasping; robotic manipulation; dexterous manipulation; multifingered hands; robust control; control barrier functions; constraint satisfaction
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Shaw Cortez, W. E. (2019). Robust Object Manipulation for Fully-Actuated Robotic Hands. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/233378
Chicago Manual of Style (16th Edition):
Shaw Cortez, Wenceslao Eric. “Robust Object Manipulation for Fully-Actuated Robotic Hands.” 2019. Doctoral Dissertation, University of Melbourne. Accessed March 08, 2021.
http://hdl.handle.net/11343/233378.
MLA Handbook (7th Edition):
Shaw Cortez, Wenceslao Eric. “Robust Object Manipulation for Fully-Actuated Robotic Hands.” 2019. Web. 08 Mar 2021.
Vancouver:
Shaw Cortez WE. Robust Object Manipulation for Fully-Actuated Robotic Hands. [Internet] [Doctoral dissertation]. University of Melbourne; 2019. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/11343/233378.
Council of Science Editors:
Shaw Cortez WE. Robust Object Manipulation for Fully-Actuated Robotic Hands. [Doctoral Dissertation]. University of Melbourne; 2019. Available from: http://hdl.handle.net/11343/233378

Universidade do Rio Grande do Sul
29.
Missiaggia, Leonardo.
Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente.
Degree: 2014, Universidade do Rio Grande do Sul
URL: http://hdl.handle.net/10183/96327
► Este trabalho consiste na elaboração de uma estratégia para a geração de trajetórias otimizadas para um robô cilíndrico de cinco graus de liberdade acionado pneumaticamente.…
(more)
▼ Este trabalho consiste na elaboração de uma estratégia para a geração de trajetórias otimizadas para um robô cilíndrico de cinco graus de liberdade acionado pneumaticamente. Como resultado da aplicação do método desenvolvido obtêm-se as trajetórias no espaço das juntas que resultam no movimento adequado do efetuador do robô, de acordo com algum critério de otimização. Para a obtenção das trajetórias das juntas do robô a partir de uma dada trajetória desejada para o efetuador, resolveu-se o problema de cinemática inversa por meio de uma abordagem algébrica. Para a geração de trajetórias entre os pontos no espaço de trabalho do robô propõe-se a utilização de um algoritmo de aproximação de pontos através de splines compostas por polinômios de sétimo grau. Essa escolha garante a continuidade da função de posição, bem como de suas três primeiras derivadas, sendo essa uma condição necessária para a implantação de importantes leis e estratégias de controle (como, por exemplo, a estratégia em cascata, utilizada com sucesso no controle de sistemas servopneumáticos). O método proposto para a geração de splines possibilita, através do ajuste de parâmetros em função da exigência de cada aplicação, a obtenção de curvas no espaço das juntas com valores otimizados de jerk, aceleração ou velocidade. Para aplicação na geração de trajetórias para o robô, a interpolação dos pontos é realizada no espaço dos atuadores a fim de fornecer ao controlador as curvas de referência para posição, velocidade, aceleração e jerk. Para a demonstração da aplicação do método no seguimento de trajetórias, são utilizadas como referência curvas tridimensionais cujos valores numéricos são comparados com os resultados fornecidos a partir da metodologia proposta. Assim, uma vez calculadas as trajetórias em cada uma das juntas através da cinemática inversa, utiliza-se as transformações homogêneas da cinemática direta do robô, obtidas a partir do método de Denavit-Hartenberg, para obter a trajetória do efetuador e verificar a funcionalidade do modelo resultante.
This work consists of developing a strategy to generate optimized trajectories for a cylindrical robot with five degrees of freedom which is actuated pneumatically. As a result of the application of the developed method, trajectories in joint space are obtained and result in the proper motion of the robot’s end-effector according to a given optimizing criteria. In order to obtain the trajectories of the robot’s joints from a given desired trajectory for the end-effector, the problem of inverse kinematics was solved by an algebraic approach. To generate trajectories between points in the robot’s workspace it was proposed the use of an algorithm for approximation of points through splines composed by seventh degrees polynomials. This choice ensures the continuity of the position function as well as its first three derivatives. It is a necessary condition for the implementation of important laws and control strategies (for example, the cascade strategy which is successfully used in servo-pneumatic…
Advisors/Committee Members: Perondi, Eduardo André.
Subjects/Keywords: Robótica; Trajectory planning; Robôs industriais; Inverse kinematics; Cinemática; Pneumatic robotic manipulator; Otimização matemática
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Missiaggia, L. (2014). Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/96327
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Missiaggia, Leonardo. “Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente.” 2014. Thesis, Universidade do Rio Grande do Sul. Accessed March 08, 2021.
http://hdl.handle.net/10183/96327.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Missiaggia, Leonardo. “Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente.” 2014. Web. 08 Mar 2021.
Vancouver:
Missiaggia L. Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2014. [cited 2021 Mar 08].
Available from: http://hdl.handle.net/10183/96327.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Missiaggia L. Planejamento otimizado de trajetória para um robô cilíndrico acionado pneumaticamente. [Thesis]. Universidade do Rio Grande do Sul; 2014. Available from: http://hdl.handle.net/10183/96327
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Clemson University
30.
Merino, Jessica.
Continuum Robotic Surface: Forward Kinematic Analysis and Implementation.
Degree: MS, Electrical Engineering, 2013, Clemson University
URL: https://tigerprints.clemson.edu/all_theses/1726
► This thesis presents a new class of biologically inspired robots: continuum robotic surfaces. This work is fueled by the question: can the interaction between…
(more)
▼ This thesis presents a new class of biologically inspired robots: continuum
robotic surfaces. This work is fueled by the question: can the interaction between robot and environment be advanced with “programmable surfaces in space?” The novelty of continuum
robotic surfaces lies in their ability to be actively controlled and reconfigured in what we believe is the current “missing dimension” in robot movements — two–dimensional space. We believe that such surfaces will lend themselves to more complex applications. However, to effectively deploy such surfaces for these complex applications, kinematic models will be necessary to plan and
control desired configurations. The forward kinematic models for continuum surfaces introduced herein are an initial step in achieving this goal. Then, to test the precision of our model, we validate it via hardware realizations. Lastly, with the kinematic model and hardware realization, the next step is to explore one of the aforementioned complex applications for these surfaces. We believe that a continuum
robotic surface can lend itself to upper–extremity stroke rehabilitation in a novel way. Our efforts in interactively designing and building a working prototype with the clinical and staff healthcare
subject matter experts at the Roger C. Peace Rehabilitation Center of the Greenville Hospital System are detailed.
Advisors/Committee Members: Walker, Ian D., Green , Keith E., Groff , Richard E..
Subjects/Keywords: Biologically Inspired Robots; Continuum Robotic Surfaces; Forward Kinematics; Interpolation; Prototype Development; Rehabilitation Robots; Robotics
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APA (6th Edition):
Merino, J. (2013). Continuum Robotic Surface: Forward Kinematic Analysis and Implementation. (Masters Thesis). Clemson University. Retrieved from https://tigerprints.clemson.edu/all_theses/1726
Chicago Manual of Style (16th Edition):
Merino, Jessica. “Continuum Robotic Surface: Forward Kinematic Analysis and Implementation.” 2013. Masters Thesis, Clemson University. Accessed March 08, 2021.
https://tigerprints.clemson.edu/all_theses/1726.
MLA Handbook (7th Edition):
Merino, Jessica. “Continuum Robotic Surface: Forward Kinematic Analysis and Implementation.” 2013. Web. 08 Mar 2021.
Vancouver:
Merino J. Continuum Robotic Surface: Forward Kinematic Analysis and Implementation. [Internet] [Masters thesis]. Clemson University; 2013. [cited 2021 Mar 08].
Available from: https://tigerprints.clemson.edu/all_theses/1726.
Council of Science Editors:
Merino J. Continuum Robotic Surface: Forward Kinematic Analysis and Implementation. [Masters Thesis]. Clemson University; 2013. Available from: https://tigerprints.clemson.edu/all_theses/1726
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