Ultrasonic Position Reference Systems for an Autonomous Sentry Robot and a Robot Manipulator Arm.

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1985
Accession Number
ADA155481

Entities

People

  • W. M. Dunkin

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Circuit Boards
  • Computer Programming
  • Computers
  • Control Systems
  • Coordinate Systems
  • Detection
  • Guidance
  • Measurement
  • Motion Planning
  • Plastic Explosives
  • Range Finding
  • Test And Evaluation
  • Transducers
  • Two Dimensional
  • United States
  • Wiring Diagrams

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control