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Pages
- Title
- Proceedings of the Fourth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1991
- PURL
- http://purl.flvc.org/fau/fd/FA00000704
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Second Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1989
- PURL
- http://purl.flvc.org/fau/fd/FA00000701
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Third Conference on Recent Advances in Robotics - Vol. 1.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1990
- PURL
- http://purl.flvc.org/fau/fd/FA00000702
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Third Conference on Recent Advances in Robotics - Vol. 2.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1990
- PURL
- http://purl.flvc.org/fau/fd/FA00000703
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the First Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1988
- PURL
- http://purl.flvc.org/fau/fd/FA00000700
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Seventh Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1994
- PURL
- http://purl.flvc.org/fau/fd/FA00000707
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Ninth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1996
- PURL
- http://purl.flvc.org/fau/fd/FA00000709
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Sixth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1993
- PURL
- http://purl.flvc.org/fau/fd/FA00000706
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Eighth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1995
- PURL
- http://purl.flvc.org/fau/fd/FA00000708
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Tenth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1997
- PURL
- http://purl.flvc.org/fau/fd/FA00000710
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Fifth Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1992
- PURL
- http://purl.flvc.org/fau/fd/FA00000705
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the Eleventh Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University College of Engineering
- Date Issued
- 1998
- PURL
- http://purl.flvc.org/fau/fd/FA00000711
- Subject Headings
- Robotics -- Congresses, Robotics
- Format
- Document (PDF)
- Title
- Proceedings of the ... Conference on Recent Advances in Robotics.
- Creator
- Conference on Recent Advances in Robotics (Boca Raton), Florida Atlantic University
- PURL
- http://purl.flvc.org/fau/fd/FAadvancerob
- Subject Headings
- Robotics -- Congresses
- Format
- Serial
- Title
- INTELLIGENT OPERATION OF ROBOTIC ARMS BASED ON TURTLEBOT3 MOBILE ROBOTS.
- Creator
- Veit, Connor, Zhong, Xiangnan, Florida Atlantic University, Department of Computer and Electrical Engineering and Computer Science, College of Engineering and Computer Science
- Abstract/Description
-
As technology progresses, tasks involving object manipulation that were once conducted by humans are now being accomplished through robots. Specifically, robots carry out these goals through the utilization of different forms of artificial intelligence, including deep learning via a convolutional neural network. One robot made to accomplish this purpose is the ROS controlled TurtleBot3 Waffle Pi with an OpenMANIPULATOR-X robotic arm. This type of TurtleBot3 was developed with the express...
Show moreAs technology progresses, tasks involving object manipulation that were once conducted by humans are now being accomplished through robots. Specifically, robots carry out these goals through the utilization of different forms of artificial intelligence, including deep learning via a convolutional neural network. One robot made to accomplish this purpose is the ROS controlled TurtleBot3 Waffle Pi with an OpenMANIPULATOR-X robotic arm. This type of TurtleBot3 was developed with the express purpose of education and research but may not be limited to those two usages. Based on the current design of this classification of TurtleBot3, it may have multiple applications outside the testing environment, granting it further uses in a variety of tasks. The TurtleBot3 is easy to setup to fulfill the purposes for which the TurtleBot3 Waffle Pi was designed, and the exploration into further uses would allow for the discovery of alternatives to some tasks that normally require more work. For that reason, this thesis was conducted to determine the various uses of the TurtleBot3 with a robotic arm and if this robot can be used outside of a testing environment for various real-world tasks.
Show less - Date Issued
- 2022
- PURL
- http://purl.flvc.org/fau/fd/FA00014026
- Subject Headings
- Robotics, Artificial intelligence, Mobile robots
- Format
- Document (PDF)
- Title
- The visual looming navigation cue: A unified approach.
- Creator
- Joarder, Kunal., Florida Atlantic University, Raviv, Daniel, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
- Abstract/Description
-
This research introduces a unified approach to visual looming. Visual looming is related to an increasing projected size of an object on a viewer's retina while the relative distance between the viewer and the object decreases. Psychophysicists and neurobiologists have studied this phenomenon by observing vision and action in unison and have reported subject's tendency to react defensively or using this information in an anticipatory control of the body. Since visual looming induces senses of...
Show moreThis research introduces a unified approach to visual looming. Visual looming is related to an increasing projected size of an object on a viewer's retina while the relative distance between the viewer and the object decreases. Psychophysicists and neurobiologists have studied this phenomenon by observing vision and action in unison and have reported subject's tendency to react defensively or using this information in an anticipatory control of the body. Since visual looming induces senses of threat of collision, the same cue, if quantified, can be used along with visual fixation in obstacle avoidance in mobile robots. In quantitative form visual looming is defined as the time derivative of the relative distance (range) between the observer and the object divided by the relative distance itself. The visual looming is a measurable variable. Following the paradigm of Active Vision the approach in this research uses visual fixation to selectively attend a small part of the image, that is relevant to the task. Visual looming provides a time-based mapping from a "set of 2-D image cues" to "time-based 3-D space". This research describes how visual looming, which is a concept related to an object in the 3-D world, can be calculated studying the relative temporal change in the following four different attributes of a sequence of 2-D images: (i) image area; (ii) image brightness; (iii) texture density in the image; (iv) image blur. From a simple closed form expression it shows that a powerful unified approach can be adopted in these methods. An extension of this unified approach establishes a strong relationship with the Weber-Fechner law in Psychophysics. The four different methods explored for the calculation of looming are simple. The experimental results illustrate how the measured values of looming stay close to the actual values. This research also introduces one important visual invariant $\Re$ that exists in relative movements between a camera light-source pair and a visible object. Finally, looming is used in the sense of a threat of collision, to navigate in an unknown environment. The results show that the approach can be used in real-time obstacle avoidance with very little a-priori knowledge.
Show less - Date Issued
- 1995
- PURL
- http://purl.flvc.org/fcla/dt/12416
- Subject Headings
- Robots--Control systems, Robot vision, Robot camera--Calibration
- Format
- Document (PDF)
- Title
- Application of fuzzy logic for the solution of inverse kinematics and hierarchical controls of robotic manipulators.
- Creator
- Howard, David William., Florida Atlantic University, Zilouchian, Ali
- Abstract/Description
-
In this thesis work, hierarchical control techniques will be used for controlling a robotic manipulator. The hierarchical control will be implemented with fuzzy logic to improve the robustness and reduce the run time computational requirements. Hierarchical control will consist on solving the inverse kinematic equations using fuzzy logic to direct each individual joint. A commercial Micro-robot with three degrees of freedom will be used to evaluate this methodology. A decentralized fuzzy...
Show moreIn this thesis work, hierarchical control techniques will be used for controlling a robotic manipulator. The hierarchical control will be implemented with fuzzy logic to improve the robustness and reduce the run time computational requirements. Hierarchical control will consist on solving the inverse kinematic equations using fuzzy logic to direct each individual joint. A commercial Micro-robot with three degrees of freedom will be used to evaluate this methodology. A decentralized fuzzy controller will be used for each joint, with a Fuzzy Associative Memories (FAM) performing the inverse kinematic mapping in a supervisory mode. The FAM determines the inverse kinematic mapping which maps the desired Cartesian coordinates to the individual joint angles. The individual fuzzy controller for each joint will generate the required control signal to a DC motor to move the associated link to the new position. The proposed hierarchical fuzzy controller will be compared to a conventional PD controller.
Show less - Date Issued
- 1997
- PURL
- http://purl.flvc.org/fcla/dt/15407
- Subject Headings
- Robotics, Fuzzy logic, Robots--Kinematics
- Format
- Document (PDF)
- Title
- Optimal coordination of robotic systems with redundancy.
- Creator
- Varma, K. R. Hareendra., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
The research work described in this dissertation is primarily aimed at developing efficient algorithms for the rate allocation problem in redundant serial chain manipulators. While the problem of redundancy resolution in the context of robot manipulators, had been a well researched one, search for optimality in computational efficiency has caught the attention only recently. Further, the idea of modifying the already developed performance criteria to improve computational efficiency, had...
Show moreThe research work described in this dissertation is primarily aimed at developing efficient algorithms for the rate allocation problem in redundant serial chain manipulators. While the problem of redundancy resolution in the context of robot manipulators, had been a well researched one, search for optimality in computational efficiency has caught the attention only recently. Further, the idea of modifying the already developed performance criteria to improve computational efficiency, had rarely been treated with the importance it deserves. The present work in fact, provides many alternative formulations to the existing performance criteria. As a result of the present investigation, we developed a mathematical tool for the minimum norm solution for underdetermined systems of linear equations, using the orthogonal null space. Closed form equations were provided for cases with two or three degrees of redundancy. Detailed study of computational efficiency showed substantial reduction in the arithmetic operations necessary for such a solution. The above concept was later generalized to utilize the self motion characteristics of redundant manipulators, to provide alternate solutions. The duality concept between the Jacobian and the null space, established in this work, enabled the authors to develop a highly efficient formulation as an alternative to the commonly used pseudoinverse-based solution. In addition, by providing the example of a 7R anthropomorphic arm, the feasibility of obtaining analytical formulation of null space coefficient matrix and the transformed end effector velocity vector for any geometry has been demonstrated. By utilizing the duality between the Jacobian and its null space, different performance criteria commonly used in the redundancy resolution problem have been modified, increasing the computational efficiency. Various simulations performed as part of the present work, utilizing the analytical null space coefficient matrix and the transformed end effector velocity vector for 3R planar case and 7R spatial anthropomorphic arm corroborates the theories. Another practical application has been demonstrated by the example of a Titan 7F arm mounted on a mobile base. The work is consolidated by reiterating the insight obtained to the physical aspects of the redundancy resolution problem and providing a direction for future work. Suggestions are given for extending the work for high d.o.r. systems, with relevant mathematical foundations. Future work in the area of dynamic modelling, is delineated which also includes an example of modified dynamic manipulability measure.
Show less - Date Issued
- 1992
- PURL
- http://purl.flvc.org/fcla/dt/12292
- Subject Headings
- Algorithms, Redundancy (Engineering), Robotics, Robots--Motion
- Format
- Document (PDF)
- Title
- Robot singularities under small perturbations in the kinematic parameters.
- Creator
- Mohile, Ajey Avinash., Florida Atlantic University, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
- Abstract/Description
-
When small perturbations in the kinematic parameters of a robot are taken into consideration, the model of a robot no longer contains perfect parallelism and perpendicularity that makes the nominal inverse kinematics so simple. In particular, the effect of joint axis misalignments and small perturbations in the kinematic parameters on the robot singularities is of interest. This aspect is particularly important when planning the workspace of a robot that must undergo calibration. To utilize...
Show moreWhen small perturbations in the kinematic parameters of a robot are taken into consideration, the model of a robot no longer contains perfect parallelism and perpendicularity that makes the nominal inverse kinematics so simple. In particular, the effect of joint axis misalignments and small perturbations in the kinematic parameters on the robot singularities is of interest. This aspect is particularly important when planning the workspace of a robot that must undergo calibration. To utilize the work volume most efficiently, one must know exactly what points are permissible as taught points. In other words, reachable workspace must be clearly defined to avoid the robot from entering the singularity zones not only of the nominal robot but also of all future actual robots. Once singularity zones for the actual robot are correctly identified, workspace planning becomes a simple task. In this thesis the relationship between small perturbations in kinematic parameters and singularities of a simple three-revolute articulated arm are studied. It is shown that singularities in such a robot do shift to new locations.
Show less - Date Issued
- 1989
- PURL
- http://purl.flvc.org/fcla/dt/14476
- Subject Headings
- Robots--Dynamics, Robots--Motion
- Format
- Document (PDF)
- Title
- Synthesis of vision-based robot calibration using moving cameras.
- Creator
- Wang, Kuanchih., Florida Atlantic University, Roth, Zvi S., Zhuang, Hanqi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
- Abstract/Description
-
Robot calibration using a vision system and moving cameras is the focus of this dissertation. The dissertation contributes in the areas of robot modeling, kinematic identification and calibration measurement. The effects of perspective distortion of circular camera calibration points is analyzed. A new modified complete and parametrically continuous robot kinematic model, an evolution of the complete and parametrically continuous (CPC) model, is proposed. It is shown that the model's error...
Show moreRobot calibration using a vision system and moving cameras is the focus of this dissertation. The dissertation contributes in the areas of robot modeling, kinematic identification and calibration measurement. The effects of perspective distortion of circular camera calibration points is analyzed. A new modified complete and parametrically continuous robot kinematic model, an evolution of the complete and parametrically continuous (CPC) model, is proposed. It is shown that the model's error-model can be developed easily as the structure of this new model is very simple and similar to the Denavit-Hartenbert model. The derivation procedure of the error-model follows a systematic method that can be applied to any kind of robot arms. Pose measurement is the most crucial step in robot calibration. The use of stereo as well as mono mobile camera measurement system for collection of pose data of the robot end-effector is investigated. The Simulated Annealing technique is applied to the problem of optimal measurement configuration selection. Joint travel limits can be included in the cost function. It is shown that trapping into local minimum points can be effectively avoided by properly choosing an initial point and a temperature schedule. The concept of simultaneous calibration of camera and robot is developed and implemented as an automated process that determines the system model parameters using only the system's internal sensors. This process uses a unified mathematical model for the entire robot/camera system. The results of the kinematic identification, optimal configuration selection, and simultaneous calibration of robot and camera using the PUMA 560 robot arm have demonstrated that the modified complete and parametrically continuous model is a viable and simple modeling tool, which can achieve desired accuracy. The systematic way of modeling and performing of different kinds of vision-based robot applications demonstrated in this dissertation will pave the way for industrial standardizing of robot calibration done by the robot user on the manufacturing floor.
Show less - Date Issued
- 1993
- PURL
- http://purl.flvc.org/fcla/dt/12339
- Subject Headings
- Robot vision, Robot cameras--Calibration
- Format
- Document (PDF)
- Title
- Objects interaction using superquadrics for telemanipulation system simulation.
- Creator
- Agba, Emmanuel I., Wong, Tin-Lup, Huang, Ming Z., Clark, A. M., Harbor Branch Oceanographic Institute
- Date Issued
- 1993
- PURL
- http://purl.flvc.org/FCLA/DT/3342309
- Subject Headings
- Robotics, Telemanipulator, Simulation
- Format
- Document (PDF)
