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Title: THE DYNAMICS OF THE GENERALIZED MANIPULATOR.
Creator: LAU, TO-CHOI., Florida Atlantic University, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: The concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown...
Show moreThe concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown identical to existing models. Furthermore, the reduced dynamical model of the generalized manipulator can be used to compute forces and torques components along any direction. Application of the model to problems of mobile robots and flexible manipulators is shown.
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Date Issued: 1985
PURL: http://purl.flvc.org/fcla/dt/14243
Subject Headings: Manipulators (Mechanism), Robots
Format: Document (PDF)

Title: ROBOT CALIBRATION USING STEREO VISION.
Creator: CHEN, SHOUPU., Florida Atlantic University, Roth, Zvi S., Sudhakar, Raghavan
Abstract/Description: This thesis deals with a study of using the stereo vision technique in the robot calibration. Three cameras are used in measurement to extract the position information of a target point attached onto each of the robot manipulator links for the purpose of identifying the actual kinematic parameters of every link of the robot manipulator under testing. The robot kinematic model used in this study is the S-Model which is an extension of the well-known Denavit-Hartenberg model. The calibration...
Show moreThis thesis deals with a study of using the stereo vision technique in the robot calibration. Three cameras are used in measurement to extract the position information of a target point attached onto each of the robot manipulator links for the purpose of identifying the actual kinematic parameters of every link of the robot manipulator under testing. The robot kinematic model used in this study is the S-Model which is an extension of the well-known Denavit-Hartenberg model. The calibration has been done on the wrist of the IBM 7565 robot. The experiment set-up and results and the necessary software are all presented in this thesis.
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Date Issued: 1987
PURL: http://purl.flvc.org/fcla/dt/14416
Subject Headings: Robotics--Calibration--Measurement
Format: Document (PDF)

Title: An active-vision-based method for autonomous navigation.
Creator: Ergen, Erkut Erhan., Florida Atlantic University, Raviv, Daniel
Abstract/Description: This research explores the existing active-vision-based algorithms employed in today's autonomous navigation systems. Some of the popular range finding algorithms are introduced and presented with examples. In light of the existing methods, an active-vision-based method, which extracts visual cues from a sequence of 2D images, is proposed for autonomous navigation. The proposed algorithm merges the method titled 'Visual Threat Cues (VTCs) for Autonomous Navigation' developed by Kundur (1),...
Show moreThis research explores the existing active-vision-based algorithms employed in today's autonomous navigation systems. Some of the popular range finding algorithms are introduced and presented with examples. In light of the existing methods, an active-vision-based method, which extracts visual cues from a sequence of 2D images, is proposed for autonomous navigation. The proposed algorithm merges the method titled 'Visual Threat Cues (VTCs) for Autonomous Navigation' developed by Kundur (1), with the structured-light-based methods. By combining these methods, a more practical and a simpler method for indoors autonomous navigation tasks is developed. A textured-pattern, which is projected onto the object surface by a slide projector, is used as the structured-light source, and the proposed approach is independent of the textured-pattern used. Several experiments are performed with the autonomous robot LOOMY to test the proposed algorithm, and the results are very promising.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/15425
Subject Headings: Autonomous robots, Automotive sensors
Format: Document (PDF)

Title: Visual cues in active monocular vision for autonomous navigation.
Creator: Yang, Lingdi., Florida Atlantic University, Raviv, Daniel, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: In this dissertation, visual cues using an active monocular camera for autonomous vehicle navigation are investigated. A number of visual cues suitable to such an objective are proposed and effective methods to extract them are developed. Unique features of these visual cues include: (1) There is no need to reconstruct the 3D scene; (2) they utilize short image sequences taken by a monocular camera; and (3) they operate on local image brightness information. Taking these features into account...
Show moreIn this dissertation, visual cues using an active monocular camera for autonomous vehicle navigation are investigated. A number of visual cues suitable to such an objective are proposed and effective methods to extract them are developed. Unique features of these visual cues include: (1) There is no need to reconstruct the 3D scene; (2) they utilize short image sequences taken by a monocular camera; and (3) they operate on local image brightness information. Taking these features into account, the algorithms developed are computationally efficient. Simulation and experimental studies confirm the efficacy of the algorithms developed. The major contribution of the research work in this dissertation is the extraction of visual information suitable for autonomous navigation in an active monocular camera without 3D reconstruction by use of local image information. In the studies addressed, the first visual cue is related to camera focusing parameters. An objective function relating focusing parameters to local image brightness is proposed. A theoretical development is conducted to show that by maximizing the objective function one can focus successfully the camera by choosing the focusing parameters. As a result, the dense distance map between a camera and a front scene can be estimated without using the Gaussian spread function. The second visual cue, namely, the clearance invariant (first proposed by Raviv (97)), is extended here to include arbitrary translational motion of a camera. It is shown that the angle between the optical axis and moving direction of a camera can be estimated by minimizing the relevant estimated error residual. This method needs only one image projection from a 3D surface point at an arbitrary time instant. The third issue discussed in this dissertation refers to extracting the looming and the magnitude of rotation using a new visual cue designated as the rotation invariant under the camera fixation. An algorithm to extract the looming is proposed using the image information available from only one 3D surface point at an arbitrary time instant. Further, an additional algorithm is proposed to estimate the magnitude of rotational velocity of the camera by using the image projections of only two 3D surface points measured over two time instants. Finally, a method is presented to extract the focus of expansion robustly without using image brightness derivatives. It decomposes an image projection trajectory into two independent linear models, and applies the Kalman filters to estimate the focus of expansion.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/12527
Subject Headings: Computer vision, Robot vision
Format: Document (PDF)

Title: LOOMY: A platform for vision-based autonomous driving.
Creator: Kelly, Thomas Joseph., Florida Atlantic University, Raviv, Daniel, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: This thesis describes the conceptualization, design and implementation of a low-cost vision-based autonomous vehicle named LOOMY. A golf cart has been ouffitted with a personal computer, a fixed foward-looking camera, and the necessary actuators to facilitate driving operations. Steering, braking, and speed control actuators are being driven in open-loop with no sort of local feedback. The only source of feedback to the system is through the image sequence obtained from the camera. The images...
Show moreThis thesis describes the conceptualization, design and implementation of a low-cost vision-based autonomous vehicle named LOOMY. A golf cart has been ouffitted with a personal computer, a fixed foward-looking camera, and the necessary actuators to facilitate driving operations. Steering, braking, and speed control actuators are being driven in open-loop with no sort of local feedback. The only source of feedback to the system is through the image sequence obtained from the camera. The images are processed and the relative information is extracted and applied to the navigation task. The implemented task is to follow another vehicle, tracing its actions while avoiding collisions using the visual looming cue.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15610
Subject Headings: Automotive sensors, Autonomous robots
Format: Document (PDF)

Title: A simplified Jacobian representation for robot manipulators.
Creator: Alewine, Neal Jon., Florida Atlantic University, Roth, Zvi S.
Abstract/Description: Central to many manipulator positional control schemes is a requirement to invert the forward kinematic equations which model the given manipulator. It is shown in this thesis that for manipulator types where a common wrist center exists, a simplified Jacobian form is feasible and its inversion can be used in place of inverse kinematic solutions for positional control. The Jacobian simplification is obtained by decoupling of the wrist member from the positional member, resulting in a Jacobian...
Show moreCentral to many manipulator positional control schemes is a requirement to invert the forward kinematic equations which model the given manipulator. It is shown in this thesis that for manipulator types where a common wrist center exists, a simplified Jacobian form is feasible and its inversion can be used in place of inverse kinematic solutions for positional control. The Jacobian simplification is obtained by decoupling of the wrist member from the positional member, resulting in a Jacobian inversion involving the solution of two sets of three equations with three unknowns. Within the development of the alternate Jacobian form, a technique for substituting incremental rotations with incremental translations is introduced yielding better insight into the Jacobian structure. A requirement for small moves is validated with a discussion of a proposed positional control strategy and a comprehensive example is presented as a summary of the results.
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Date Issued: 1988
PURL: http://purl.flvc.org/fcla/dt/14477
Subject Headings: Robots, Manipulators (Mechanism), Matrices
Format: Document (PDF)

Title: Kinematic modeling, identification and compensation of robot manipulators.
Creator: Zhuang, Hanqi, Florida Atlantic University, Hamano, Fumio, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: Theoretical and practical issues of kinematic modeling, measurement, identification and compensation are addressed in this dissertation. A comprehensive robot calibration methodology using a new Complete and Parametrically Continuous (CPC) kinematic model is presented. The dissertation focuses on model-based robot calibration techniques. Parametric continuity of a kinematic model is defined and discussed to characterize model singularity. Irreducibility is defined to facilitate error model...
Show moreTheoretical and practical issues of kinematic modeling, measurement, identification and compensation are addressed in this dissertation. A comprehensive robot calibration methodology using a new Complete and Parametrically Continuous (CPC) kinematic model is presented. The dissertation focuses on model-based robot calibration techniques. Parametric continuity of a kinematic model is defined and discussed to characterize model singularity. Irreducibility is defined to facilitate error model reduction. Issues of kinematic parameter identification are addressed by utilizing generic forms of linearized kinematic error models. The CPC model is a complete and parametrically continuous kinematic model capable of describing geometry and motion of a robot manipulator. Owing to the completeness of the CPC model, the transformation from the base frame to the world frame and from the tool frame to the last link frame can be modeled with the same modeling convention as the one used for internal link transformations. Due to the parametric continuity of the CPC model, numerical difficulties in kinematic parameter identification using error models are reduced. The CPC model construction, computation of the link parameters from a given link transformation, inverse kinematics, transformations between the CPC model and the Denavit-Hartenberg model, and linearized CPC error model construction are investigated. New methods for self-calibration of a laser tracking coordinate-measuring-machine are reported. Two calibration methods, one based on a four-tracker system and the other based on three trackers with a precision plane, are proposed. Iterative estimation algorithms along with simulation results are presented. Linear quadratic regulator (LQR) theory is applied to design robot accuracy compensators. In the LQR algorithm, additive corrections of joint commands are found without explicitly solving the inverse kinematic problem for an actual robot; a weighting matrix and coefficients in the cost function can be chosen systematically to achieve specific objective such as emphasizing the positioning accuracy of the end-effector over its orientation accuracy and vice versa and taking into account joint travelling limits as well as singularity zones of the robot. The results of the kinematic identification and compensation experiments using the PUMA robot have shown that the CPC modeling technique presented in this dissertation is a convenient and effective means for accuracy improvements of industrial robots.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/12243
Subject Headings: Robotics, Manipulators (Mechanism)
Format: Document (PDF)

Title: Sensor based mapping and navigation for underwater robots.
Creator: Scarim, Philip F., Florida Atlantic University, Steer, Barry, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis presents a mapping and navigation system intended for an unmanned untethered underwater vehicle. The system utilizes range data obtained from a time of flight sonar operating at 307KHz. The range data, along with an angle measurement of the transducer, is used to generate a simple object map (detected object and its position in two dimensions). The raw range data is filtered using an edge detection algorithm. The edge detection algorithm extracts possible corners from the acoustic...
Show moreThis thesis presents a mapping and navigation system intended for an unmanned untethered underwater vehicle. The system utilizes range data obtained from a time of flight sonar operating at 307KHz. The range data, along with an angle measurement of the transducer, is used to generate a simple object map (detected object and its position in two dimensions). The raw range data is filtered using an edge detection algorithm. The edge detection algorithm extracts possible corners from the acoustic data of the scanned environment. The output of the edge detection algorithm is sent to a confidence program. The confidence program determines which of the possible "corners", determined by the edge detection algorithm, are "actual" corners. The output of the confidence program is then used to produce the object map. This object map may be used as the input to an annotated map-builder. The output of the confidence program is then input to the navigation system. The navigation system determines the position of the vehicle relative to a detected object without any a-priori information, which may be used as an input to a path planner and an obstacle avoidance system. The experiments were carried out in a 25 x 30 foot pool and the experimental data processed on a Sun Workstation using Matlab and C generated code for post-processing of the raw acoustical data.
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Date Issued: 1996
PURL: http://purl.flvc.org/fcla/dt/15263
Subject Headings: Robots, Underwater navigation
Format: Document (PDF)

Title: NOVEL KIRIGAMI-INSPIRED FLEXIBLE ROBOTIC EXTENSION FOR MOBILE PLATFORMS.
Creator: Den Ouden, Casey, Su, Tsung-Chow, Ouyang, Bing, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: Since 2010, aquaculture practices have produced 70% of global seafood consumption. However, this fast-growing sector of agriculture has yet to see the adoption of advanced technologies to improve farm operations. The Hybrid Aerial Underwater robotiCs System (HAUCS) is an Internet of Things (IoT) framework that aims to bring transformative changes to pond aquaculture. This project focuses on the latest developments in the HAUCS mobile sensing platform and field deployment. A novel rigid...
Show moreSince 2010, aquaculture practices have produced 70% of global seafood consumption. However, this fast-growing sector of agriculture has yet to see the adoption of advanced technologies to improve farm operations. The Hybrid Aerial Underwater robotiCs System (HAUCS) is an Internet of Things (IoT) framework that aims to bring transformative changes to pond aquaculture. This project focuses on the latest developments in the HAUCS mobile sensing platform and field deployment. A novel rigid Kirigami-based robotic extension subsystem was created to expand the functionality of the HAUCS platform. The primary objective of this design was to limit the surface area of an extender arm on the drone during flight operations and minimize the in-flight drag. By utilizing a novel combination of shape memory polymer (SMP) and nitinol to extend and retrieve the sensing arm, the structure was able to conserve energy while operating under varying environmental conditions.
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Date Issued: 2023
PURL: http://purl.flvc.org/fau/fd/FA00014324
Subject Headings: Aquaculture, Sensors, Robotics
Format: Document (PDF)

Title: Self-Contained Soft Robotic Jellyfish with Water-Filled Bending Actuators and Positional Feedback Control.
Creator: Frame, Jennifer, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated...
Show moreThis thesis concerns the design, construction, control, and testing of a novel self-contained soft robotic vehicle; the JenniFish is a free-swimming jellyfish-like soft robot that could be adapted for a variety of uses, including: low frequency, low power sensing applications; swarm robotics; a STEM classroom learning resource; etc. The final vehicle design contains eight PneuNet-type actuators radially situated around a 3D printed electronics canister. These propel the vehicle when inflated with water from its surroundings by impeller pumps; since the actuators are connected in two neighboring groups of four, the JenniFish has bi-directional movement capabilities. Imbedded resistive flex sensors provide actuator position to the vehicle’s PD controller. Other onboard sensors include an IMU and an external temperature sensor. Quantitative constrained load cell tests, both in-line and bending, as well as qualitative free-swimming video tests were conducted to find baseline vehicle performance capabilities. Collected metrics compare well with existing robotic jellyfish.
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Date Issued: 2016
PURL: http://purl.flvc.org/fau/fd/FA00004656, http://purl.flvc.org/fau/fd/FA00004656
Subject Headings: Adaptive control systems, Artificial intelligence, Autonomous robots, Computational intelligence, Robotics
Format: Document (PDF)

Title: Soft Robotics: Fiber Reinforced Soft Pneumatic Multidirectional Manipulators, Designing, Fabricating, and Testing.
Creator: Holdar, Mohammad, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Traditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF),...
Show moreTraditional robots are made from hard materials like hard plastic or metal and consist of regular rigid mechanical parts. Using those parts has some limitations, like limited dexterity and lack of flexibility. Some of these limitations could be avoided through using a compliant material, because it has higher flexibility and dexterity. It is also safer to be in direct contact with humans. This thesis studies soft pneumatic manipulators (SPMs) that move in multi degrees of freedom (MDOF), which makes them able to perform various functions. The study will include designing, fabricating, and testing three different SPMs with different taper angles -- 0^0, 1^0, and 2^0 -- to measure the effect of varying this geometry on the achievable force by the end effector and the range of bending and elongation. Every single SPM consists of three soft pneumatic chambers to reach unlimited points on its workspace through implementing bending and elongating movements. There are a lot of applications for this kind of soft actuators, like rehabilitation, underwater utilizes, and robots for surgery and rescues. Most soft pneumatic actuators provide one kind of movement, for bending, twisting, or elongating. Combining more than one kind of movement in one soft pneumatic actuator provides considerable contributions to the body of research. The SPMs were controlled and tested to evaluate the achieved force and two kinds of movement, bending and elongating range. The results of each module has been compared with the others to determine which actuator has the best performance. Then a force controller was created to maintain the desired force that was achieved by the end effector. The results indicated that the optimal angle of the SPM was 2^0.
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Date Issued: 2018
PURL: http://purl.flvc.org/fau/fd/FA00013030
Subject Headings: Robotics, Pneumatic control, Actuators--Design and construction, Soft robotics
Format: Document (PDF)

Title: Design and implementation of a control system for a laser-tracking measurement system.
Creator: Bai, Ying., 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: To assess and evaluate the performance of robots and machine tools dynamically, it is desirable to have a precision measuring device that performs dynamic measurement of end-effector positions of such robots and machine tools. Among possible measurement techniques, Laser Tracking Systems (LTSs) exlnbit the capability of high accuracy, large workspace, high sampling rate, and automatic target-tracking,. and thus are well-suited for robot calibration both kinematically and dynamically. In this...
Show moreTo assess and evaluate the performance of robots and machine tools dynamically, it is desirable to have a precision measuring device that performs dynamic measurement of end-effector positions of such robots and machine tools. Among possible measurement techniques, Laser Tracking Systems (LTSs) exlnbit the capability of high accuracy, large workspace, high sampling rate, and automatic target-tracking,. and thus are well-suited for robot calibration both kinematically and dynamically. In this dissertation, the design and implementation of a control system for a homemade laser tracking measurement systems is addressed and calibration of a robot using the laser tracking system is demonstrated Design and development of a control system for a LTS is a challenging task. It involves a deep understanding of laser interferometry,. controls, mechanics and optics,. both in theoretical perspective and in implementation aspect. One of the most important requirements for a successful design and implementation of a control system for the LTS is proper installation and alignment of the laser and optical system,. or laser transducer system. The precision of measurement using the LTS depends highly on the accuracy of the laser transducer system, as well as the accuracy of the installation and alignment of the optical system. Hence, in reference to the experimental alignment method presented in this dissertation, major error sources affecting the system measurement accuracy are identified and analyzed. A manual compensation method is developed to eliminate the effects of these error sources effectively in the measurement system. Considerations on proper design and installation of laser and optical components are indicated in this dissertation. As a part of the conventional control system design, a dynamic system model of the LTS is required. In this study, a detailed derivation and analysis of the dynamic model of the motor gimbal system using Lagrange-Euler equations of motion is developed for both ideal and complete gimbal systems. Based on this system model,. a conventional controller is designed. Fuzzy Logic Controllers (FLC) are designed in order to suppress noise or disturbances that exist in the motor driver subsystem. By using the relevant control strategies. noise and disturbances present in the electrical control channels are shown to reduce significantly. To improve the system performance further, a spectrum analysis of the error sources and disturbances existing in the system is conducted. Major noise sources are effectively suppressed by using a two-stage fuzzy logic control strategy. A comparison study on the performances of different control strategies is given in this dissertation, in reference to the following: An ideal system model, a system with a long time delay, a system with various noise sources and a system model with uncertainties. Both simulation and experimental results are furnished to illustrate the advantages of the FLC in respect of its transient response, steady-state response, and tracking performance. Furthermore, noise reduction in the laser tracking system is demonstrated. Another important issue concerning a successful application of the LTS in the calibration of a robot is the estimation of system accuracy. Hence, a detailed analysis of system accuracy of the LTS is presented in this worL This analysis is also verified by experimental methods by means of tracking a Coordinate Measuring Machine available in the FAU Robotics Center. Using the developed LTS, a PUMA robot in the FAU Robotics Center is calibrated. The results obtained are confirmative with the data available in the literature. In summary, the proposed methodology towards the design and implementation of a control system for LTSs has been shown to be successful by performing experimental tracking and calibration studies at the FAU Robotics Center.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12622
Subject Headings: Robots--Calibration, Robots--Control systems, Fuzzy logic
Format: Document (PDF)

Title: Workspace evaluation and kinematic calibration of Stewart platform.
Creator: Wang, Jian., Florida Atlantic University, Masory, Oren, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: Parallel manipulators have their special characteristics in contrast to the traditional serial type of robots. Stewart platform is a typical six degree of freedom fully parallel robot manipulator. The goal of this research is to enhance the accuracy and the restricted workspace of the Stewart platform. The first part of the dissertation discusses the effect of three kinematic constraints: link length limitation, joint angle limitation and link interference, and kinematic parameters on the...
Show moreParallel manipulators have their special characteristics in contrast to the traditional serial type of robots. Stewart platform is a typical six degree of freedom fully parallel robot manipulator. The goal of this research is to enhance the accuracy and the restricted workspace of the Stewart platform. The first part of the dissertation discusses the effect of three kinematic constraints: link length limitation, joint angle limitation and link interference, and kinematic parameters on the workspace of the platform. An algorithm considering the above constraints for the determination of the volume and the envelop of Stewart platform workspace is developed. The workspace volume is used as a criterion to evaluate the effects of the platform dimensions and kinematic constraints on the workspace and the dexterity of the Stewart platform. The analysis and algorithm can be used as a design tool to select dimensions, actuators and joints in order to maximize the workspace. The remaining parts of the dissertation focus on the accuracy enhancement. Manufacturing tolerances, installation errors and link offsets cause deviations with respect to the nominal parameters of the platform. As a result, if nominal parameters are being used, the resulting platform pose will be inaccurate. An accurate kinematic model of Stewart platform which accommodates all manufacturing and installation errors is developed. In order to evaluate the effects of the above factors on the accuracy, algorithms for the forward and inverse kinematics solutions of the accurate model are developed. The effects of different manufacturing tolerances and installation errors on the platform accuracy are investigated based on this model. Simulation results provide insight into the expected accuracy and indicate the major factors contributing to the inaccuracies. In order to enhance the accuracy, there is a need to calibrate the platform, or to determine the actual values of the kinematic parameters (Parameter Identification) and to incorporate these into the inverse kinematic solution (Accuracy Compensation). An error-model based algorithm for the parameter identification is developed. Procedures for the formulation of the identification Jacobian and for accuracy compensation are presented. The algorithms are tested using simulated measurements in which the realistic measurement noise is included. As a result, pose error of the platform are significantly reduced.
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Date Issued: 1992
PURL: http://purl.flvc.org/fcla/dt/12316
Subject Headings: Robots--Control systems, Manipulators (Mechanism), Robotics--Calibration
Format: Document (PDF)

Title: Self-calibration of parallel-link mechanisms.
Creator: Liu, Lixin., Florida Atlantic University, Zhuang, Hanqi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: Self-calibration is a desirable feature for an intelligent machine such as a robot that must function outside of controlled laboratory conditions. This is because it is inevitable that variations in the kinematic model arise from imperfections in the manufacturing process and changes of environment conditions. Self-calibration has the potential of (a) removing the dependence on external pose sensing, (b) producing high accuracy measurement data over the entire workspace of the system with an...
Show moreSelf-calibration is a desirable feature for an intelligent machine such as a robot that must function outside of controlled laboratory conditions. This is because it is inevitable that variations in the kinematic model arise from imperfections in the manufacturing process and changes of environment conditions. Self-calibration has the potential of (a) removing the dependence on external pose sensing, (b) producing high accuracy measurement data over the entire workspace of the system with an extremely fast measurement rate, (c) being automated and completely non invasive, (d) facilitating on-line accuracy compensation, and (e) being cost effective. This dissertation concentrates on the study of self-calibrating parallel-link mechanisms. A framework of self-calibration of a parallel-link mechanism is created, which is based on kinematic analysis and the construction of measurement residuals utilizing the information provided by redundant sensors embedded in the system. Forward and inverse kinematic measurement residuals of the mechanisms are proposed. To avoid the estimation of redundant kinematic parameters of the mechanism, the concept of relative residuals is introduced. Guidelines for placement of sensors for self-calibration are presented. An approach to determining the number of independent kinematic parameters of the mechanism is introduced. Extensive simulation and experimental studies conducted on a parallel-link mechanism, the Stewart platform built in the Robotics Center at Florida Atlantic University, confirm the effectiveness of the proposed approach.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/12539
Subject Headings: Manipulators (Mechanism)--Calibration, Robots--Control systems, Robotics
Format: Document (PDF)

Title: Camera-aided self-calibration of robot manipulators.
Creator: Meng, Yan., Florida Atlantic University, Zhuang, Hanqi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: Robot calibration is a software-based accuracy enhancement process. It is normally implemented in a well-controlled environment. However, for a system that function in a natural environment, it is desirable that the system is capable of performing a calibration task without any external expensive calibration apparatus and elaborate setups, i.e., system self-calibration. Vision systems have become standard automation components as cameras are normally integral components of most robotic...
Show moreRobot calibration is a software-based accuracy enhancement process. It is normally implemented in a well-controlled environment. However, for a system that function in a natural environment, it is desirable that the system is capable of performing a calibration task without any external expensive calibration apparatus and elaborate setups, i.e., system self-calibration. Vision systems have become standard automation components as cameras are normally integral components of most robotic manipulators. This research focuses on camera-aided robot self-calibration. Unlike classical vision-based robot calibration methods, which need both image coordinates and precise 3D world coordinates of calibration points, the self-calibration algorithms proposed in the dissertation only require a sequence of images of objects in a natural environment and a known scale. A new robot self-calibration algorithm using a known scale at every camera pose is proposed in the dissertation. It has been known that, the extrinsic parameters of the camera along with its intrinsic parameters can be obtained up to a scale factor by using the corresponding image points of objects due to the factor that the system is inherently under-determined. Now, if the camera is treated as the tool of the robot, one is then able to compute the corresponding robot pose directly from the camera, extrinsic parameters once the scale factor is available. This scale factor, which changes from one camera pose to another, can be uniquely determined from the known scale at each robot pose. The limitation of the above approach for robot self-calibration is that the known scale has to be utilized at every robot measurement pose. A new algorithm is proposed by using the known scale only once in the entire self-calibration procedure. The prerequisite of this calibration algorithm is a carefully planned optimal measurement trajectory for the estimation of the scale factor. By taking into consideration of the observability of the link error parameters, the problem can be formulated either as a constrained or a weighted minimization problem that can be solved by an optimization procedure. A new method for camera lens distortion calibration by using only point correspondences of two images without knowing the camera movement is described in the dissertation. The images for robot calibration can be shared for lens distortion coefficient calibration. This characteristic saves the user much effort in collecting image data and makes it possible to conduct a robot calibration task on line. Extensive simulations and experiment studies on a PUMA 560 robot at FAU Robotics Center reveal the convenience and effectiveness of the proposed self-calibration approaches. Compared to other robot calibration algorithms, the proposed algorithms in this dissertation are more autonomous and can be applied to a natural environment.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12651
Subject Headings: Manipulators (Mechanism), Robots--Calibration
Format: Document (PDF)

Title: A novel closed-loop approach for identification of manipulator kinematic parameters.
Creator: Wang, Yuemin., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement...
Show moreDuring the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closed-loop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.
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Date Issued: 1991
PURL: http://purl.flvc.org/fcla/dt/14732
Subject Headings: Calibration, Robots, Industrial--Calibration
Format: Document (PDF)

Title: A parallel and reliable robot controller system.
Creator: Zhang, Ruiguang., Florida Atlantic University, Fernandez, Eduardo B., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: In recent years robots have become increasingly important in many areas. Along with the development of robot-arm control theory, there has been an increased demand for faster and more reliable control systems. In this thesis, a parallel technique is applied to all of the units of a robot control system. Also, software fault-tolerance mechanisms such as timeout, conversation, exception handling, and their Occam implementations, are considered. A simulation study shows that pipelining, together...
Show moreIn recent years robots have become increasingly important in many areas. Along with the development of robot-arm control theory, there has been an increased demand for faster and more reliable control systems. In this thesis, a parallel technique is applied to all of the units of a robot control system. Also, software fault-tolerance mechanisms such as timeout, conversation, exception handling, and their Occam implementations, are considered. A simulation study shows that pipelining, together with a multiprocessing system, increases the performance of this real-time system, and it is a convenient way to speed up robot controller execution. While we have not evaluated the increase in reliability, we have shown that these fault tolerance mechanisms can be conveniently implemented in this type of application.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14566
Subject Headings: Control theory, Robots--Programming
Format: Document (PDF)

Title: KALMAN FILTERING FOR ROBOTIC CALIBRATION.
Creator: EL-BALAH, OUSSAMA NAJIB RAWDAH., Florida Atlantic University, Roth, Zvi S.
Abstract/Description: This thesis is concerned with the use of calibration techniques to increase robot accuracy. It is mainly an overview of some of the problems involved in the identification phase of calibration. A robot error model is developed and Kalman filtering algorithm is used in the identification of robot kinematic error parameters. Computer simulations and examples are used to study the behavior of the Kalman filter and its theoretical advantages in robot calibration.
Date Issued: 1987
PURL: http://purl.flvc.org/fcla/dt/14370
Subject Headings: Robotics--Calibration, Kalman filtering
Format: Document (PDF)

Title: AN OPTIMIZATION MODEL FOR DETERMINING THE FLEET SIZE FOR A ROBOT-SHARING SYSTEM.
Creator: Tabassum, Anika, Kaisar, Evangelos I., Florida Atlantic University, Department of Civil, Environmental and Geomatics Engineering, College of Engineering and Computer Science
Abstract/Description: Different innovative concepts are aiming to improve last-mile urban logistics and reduce traffic congestion. Congested metropolitan cities are implementing last-mile delivery robots to make the delivery cheaper and faster. A key factor for the success of Automated Delivery Robots (ADRs) in the last-mile is its ability to meet the fluctuating demand for robots at each micro-hub. Delivery companies rent robots from micro-hubs scattered around the city, use them for deliveries, and return them...
Show moreDifferent innovative concepts are aiming to improve last-mile urban logistics and reduce traffic congestion. Congested metropolitan cities are implementing last-mile delivery robots to make the delivery cheaper and faster. A key factor for the success of Automated Delivery Robots (ADRs) in the last-mile is its ability to meet the fluctuating demand for robots at each micro-hub. Delivery companies rent robots from micro-hubs scattered around the city, use them for deliveries, and return them at micro-hubs. This paper studies the dynamic assignment of the robots to satisfy their demands between the micro-hubs. A Mixed-Integer Linear Programming (MILP) model is developed, which minimizes the total transportation costs by determining the optimum required fleet size. The result determines the number of robots required for each planning period to meet all the demands. It provides algorithms to operate and schedule the robot-sharing system in the last leg of the delivery in dense urban areas.
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Date Issued: 2021
PURL: http://purl.flvc.org/fau/fd/FA00013701
Subject Headings: Intelligent transportation systems, Robotics, Logistics
Format: Document (PDF)

Title: Infants’ sensitivity to gestures by humans and anthropomorphic robots.
Creator: Stotler, Jacqueline, Wilcox, Teresa, Florida Atlantic University, Department of Psychology, Charles E. Schmidt College of Science
Abstract/Description: Robotics have advanced to include highly anthropomorphic (human-like) entities. A novel eye-tracking paradigm was developed to assess infants’ sensitivity to communicative gestures by human and robotic informants. Infants from two age groups (5-9 months, n = 25; 10-15 months, n = 9) viewed a robotic or human informant pointing to locations where events would occur during experimental trials. Trials consisted of three phases: gesture, prediction, and event. Duration of looking (ms) to two...
Show moreRobotics have advanced to include highly anthropomorphic (human-like) entities. A novel eye-tracking paradigm was developed to assess infants’ sensitivity to communicative gestures by human and robotic informants. Infants from two age groups (5-9 months, n = 25; 10-15 months, n = 9) viewed a robotic or human informant pointing to locations where events would occur during experimental trials. Trials consisted of three phases: gesture, prediction, and event. Duration of looking (ms) to two areas of interest, target location and non-target location, was extracted. A series of paired t-tests revealed that only older infants in the human condition looked significantly longer to the target location during the prediction phase (p = .036). Future research is needed to tease apart what components of the robotic hand infants respond to differentially, and whether a robotic hand can be manipulated to increase infants’ sensitivity to social communication gestures executed by said robotic hand.
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Date Issued: 2021
PURL: http://purl.flvc.org/fau/fd/FA00013724
Subject Headings: Robotics, Infants, Eye tracking, Gesture
Format: Document (PDF)

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