Ultrasonic Position Reference Systems for an Autonomous Sentry Robot and a Robot Manipulator Arm.
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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Tis thesis proposes and develops two microprocessor controlled ultrasonic systems which provide absolute coordinate reference for an autonomous sentry robot and a robotic manipulator. These systems close the position control loop which has never been fully closed in robotics and provide a better testbed for testing path planning and manipulator arm tr ajectory control. Each system involves known points of reference and ranges to these points which are determined by timing the interval of propagation of the ultrasonic transmissions. With this data, a microprocessor calculates the positions in cartesian coordinates. Keywords include Robot Robotics Ultrasonics Position reference systems Robot Navigation Manipulator control Robot control.
- Computer Hardware
- Acoustic Detection and Detectors