Search for dissertations about: "robotic control thesis"

Showing result 1 - 5 of 127 swedish dissertations containing the words robotic control thesis.

2. 1. The Core of Aerial Robotic Workers : Generalized Modeling, Estimation, and Control

   Author : Emil Fresk; George Nikolakopoulos; Thomas Gustafsson; Ming Cao; Luleå tekniska universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial robotics; generalized modeling; generalized estimation; generalized control; Reglerteknik; Control Engineering;

   Abstract : In this thesis we are going to explore what the operational core, both mathematically and algorithmically, of an Aerial Robotic Worker consists of, in order to estimate its egomotion and parameters, and adaptively control the aerial vehicle. Moreover, the aim of this thesis is to be a condensed reference for the corresponding areas of aerial robotics, in order to provide a stable and complete foundation on which one can continue research on. READ MORE

4. 2. Thermo-electric temperature measurements in friction stir welding : Towards feedback control of temperature

   Author : Ana Magalhães; Gunnar Bolmsjö; Jeroen De Backer; Högskolan Väst; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; FSW; Robotic; Temperature; TWT; Plunge; Control; Production Technology; Produktionsteknik; Manufacturing and materials engineering; Produktions- och materialteknik;

   Abstract : Friction Stir Welding has seen a fast uptake in many industry segments. Mechanical properties superior to fusion welding, the ability to weld "unweldable" aluminium alloys and low distortion are often described as the main reasons for the fast industrial implementation of FSW. Most existing applications consist of long straight welding joints. READ MORE

5. 3. On Robotic Work-Space Sensing and Control

   Author : Magnus Linderoth; Institutionen för reglerteknik; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotics; computer vision; color constancy; motion blur; filter initialization; visual tracking; on-line trajectory generation; ball-catching robot; force control; robotic assembly; force estimation; perception-action capabilities.;

   Abstract : Industrial robots are fast and accurate when working with known objects at precise locations in well-structured manufacturing environments, as done in the classical automation setting. In one sense, limited use of sensors leaves robots blind and numb, unaware of what is happening in their surroundings. READ MORE

6. 4. Towards Aerial Robotic Workers

   Author : Emil Fresk; Dimos Dimarogonas; Luleå tekniska universitet; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Aerial Robotic Worker; UAV; Multirotor; Quadrotor; Estimation; Quaternion; Inertial Navigation; Reglerteknik; Control Engineering;

   Abstract : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. READ MORE

7. 5. Feedback Control of Robotic Friction Stir Welding

   Author : Jeroen De Backer; Gunnar Bolmsjö; Anna-Karin Christiansson; Jorge Dos Santos; Högskolan Väst; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Friction stir welding; Process automation; Temperature control; Force control; Deflection model; Robotics; Svetsning; FSW; processtyrning; temperaturstyrning; robot; utböjning; kraftstyrning; Industriell arbetsvetenskap; Industrial engineering; Manufacturing and materials engineering; Produktions- och materialteknik;

   Abstract : The Friction Stir Welding (FSW) process has been under constant developmentsince its invention, more than 20 years ago. Whereas most industrial applicationsuse a gantry machine to weld linear joints, there are applications which consistof complex three-dimensional joints, requiring more degrees of freedom fromthe machines. READ MORE