Cheatham, John B., Jr.2009-06-042009-06-041989Fisher, 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>.https://hdl.handle.net/1911/13356The 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.64 p.application/pdfengCopyright 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.Mechanical engineeringElectronicsElectrical engineeringThesisTHESIS M.E. 1989 FISHER