Development of sensors and algorithms for automating robotic grasping

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dc.contributor.advisorCheatham, John B., Jr.
dc.creatorFisher, Paul Bruner
dc.date.accessioned2009-06-04T00:16:22Z
dc.date.available2009-06-04T00:16:22Z
dc.date.issued1989
dc.description.abstractThe difficulty of locating and grasping a target via a robot functioning as a remote teleoperator varies with the operator's perspective of the target area and the skill of the operator. To limit the amount of time and skill required to grasp a target, several methods were investigated to automate this process. These methods involved the development of sensor systems and control algorithms directed at the detection of the target in a pre-defined work area, location of the target's edges, approaching the target along its centerline, and ultimately grasping the object. The specific application involved in this research concerned a mobile robot locating and grasping random objects within a room. This thesis describes the results obtained with both the tactile and the non-tactile sensors. The non-tactile sensors were chosen for the final configuration because they could locate the target more quickly and they were safer.
dc.format.extent64 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoTHESIS M.E. 1989 FISHER
dc.identifier.citationFisher, Paul Bruner. "Development of sensors and algorithms for automating robotic grasping." (1989) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13356">https://hdl.handle.net/1911/13356</a>.
dc.identifier.urihttps://hdl.handle.net/1911/13356
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectMechanical engineering
dc.subjectElectronics
dc.subjectElectrical engineering
dc.titleDevelopment of sensors and algorithms for automating robotic grasping
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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