Sökning: "mobile manipulator"

Hittade 4 uppsatser innehållade orden mobile manipulator.

  1. 1. A Comparative Study of Omnidirectional and Differential Drive Systems for Mobile Manipulator Robots : A Performance Review of Strengths and Weaknesses

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Rebecka Vestman; [2023]
    Nyckelord :Omnidirectional drive; differential drive; mobile manipulator; mobile platform drive; drive mechanism comparison; holonomic mobile manipulator; non-holonomic mobile manipulator; Omnidirektionell drift; Differentialdrift; Mobil manipulator; Mobil plattformsdift; Jämförelse av drivmekanismer; Holonomisk mobil manipulator; Icke-holonomisk mobil manipulator;

    Sammanfattning : This thesis investigates the strengths and weaknesses of omnidirectional drive and differential drive systems on mobile manipulator robots. Based on a literature study, a hypothetical use case, and identified Key Performace Indicators the drive system’s effects on the performance of the mobile manipulator are evaluated. LÄS MER

  3. 2. Intuitive programming of mobile manipulation applications : A functional and modular GUI architecture for End-User robot programming

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Alessandro De Martini; [2021]
    Nyckelord :Robotics and automation; Mobile robots; Graphical user interfaces; End- User programming; Industrial applications.; Robotik och automatisering; Mobilmanipulatorer; Grafiska användargränssnitt; Programmering av slutanvändare; Industriella applikationer.;

    Sammanfattning : Mobile manipulators are changing the way companies and industries complete their work. Untrained end users risk facing unfunctional and nonuser- friendly Graphical User Interfaces. LÄS MER

  4. 3. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test

    Master-uppsats, KTH/Skolan för elektro- och systemteknik (EES)

    Författare :Riccardo Riccardo Zanella; [2016]
    Nyckelord :Mobile Manipulation; Aerial Robots; Quadrotor; Backstepping; Lyapunov-based Control.;

    Sammanfattning : This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation tasks. The strategy adopted for accomplishing the aerial manipulation is a decomposition of the previous system in two decoupled subsystems: one concerning the center of mass of the aerial robot; and another concerning the manipulator's orientation. LÄS MER

  5. 4. Trajectory Tracking for Mobile Manipulators : A Comparison of Control Laws and Optimization of the Reachable Workspace

    Kandidat-uppsats, KTH/Optimeringslära och systemteori

    Författare :Mikael Brudfors; Clara Lynn; Robert Rogersten; [2012]
    Nyckelord :;

    Sammanfattning : This report investigates how mobile manipulators can be controlled when an end-eector is required to follow some certain trajectory. The robot platform is of type (2,0) and is restricted to planar motion under nonholonomic constraints. The manipulator of the robot are modeled as a series of chains, connected by revolute joints. LÄS MER