Now showing items 1-6 of 6
Design, analysis, implementation, and control of a mobile robotic testbed for telepresence
A unique mobile telepresence testbed has been designed and implemented. This testbed is a tool for research in telepresence and tele-existence for control of remote robotic systems. An eight-degree-of-freedom, redundant ...
Fault detection and fault tolerance methods for robotics
Fault tolerance is increasingly important in modern autonomous or industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated ...
A vision-based fuzzy logic and neural network approach to the control of hyper-redundant robot manipulators
Hyper-redundant robot manipulators possess a very large degree of kinematic redundancy and are capable of motion similar to that of snakes and elephant trunks. Because of the computational burden required to calculate the ...
A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand
The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the ...
Remote control of a robotic arm through speaker-dependent, isolated-word speech recognition
The focus of this thesis is the remote control of a six degree-of-freedom mid-range industrial robot arm through the use of speech recognition. The robot arm is controlled through speaker-dependent, isolated-word speech ...
The use of a laser imaging system for automated vehicle guidance and space servicing tasks
This thesis presents a simulation of a laser imaging system for automated vehicle guidance and space servicing tasks. Data generated by this system are used to command a robot navigating in an unconstrained natural terrain. ...