TAILIEUCHUNG - Motion Control Theory Needed in the Implementation of Practical Robotic Systems James MentzThesis VOL 1

The word "technology" can also be used to refer to a collection of techniques. In this context, it is the current state of humanity's knowledge of how to combine resources to produce desired products, to solve problems, fulfill needs, or satisfy wants; it includes technical methods, skills, processes, techniques, tools and raw materials. When combined with another term, such as "medical technology" or "space technology", it refers to the state of the respective field's knowledge and tools. "State-of-the-art technology" refers to the high technology available to humanity in any field | Motion Control Theory Needed in the Implementation of Practical Robotic Systems James Mentz Thesis submitted to the Faculty of the Virginia Polytechnic Institute and State University in partial fulfillment of the requirements for the degree of Master of Science in Electrical Engineering Hugh F. VanLandingham Chair Pushkin Kachroo Richard W. Conners April 4 2000 Blacksburg Virginia Keywords Motion Control Robotics Obstacle Avoidance Navigation Copyright 2000 James Mentz Motion Control Theory Needed in the Implementation of Practical Robotic Systems James Mentz Abstract Two areas of expertise required in the production of industrial and commercial robotics are motor control and obstacle navigation algorithms. This is especially true in the field of autonomous robotic vehicles and this application will be the focus of this work. This work is divided into two parts. Part I describes the motor types and feedback devices available and the appropriate choice for a given robotics application. This is followed by a description of the control strategies available and appropriate for a variety of situations. Part II describes the vision hardware and navigation software necessary for an autonomous robotic vehicle. The conclusion discusses how the two parts are coming together in the emerging field of electric smart car technology. The content is aimed at the robotic vehicle designer. Both parts present a contribution to the field but also survey the required background material for a researcher to enter into development. The material has been made succinct and graphical wherever appropriate. Grant Information This early part of this work done during the 1999-2000 academic year was conducted under a grant from Motion Control Systems Inc. MCS of New River Virginia. Acknowledgments I would like to thank the folks at MCS for supporting the early part of this research and for letting me build and go right-hand-plane with the inverted pendulum system of Chapter 5. A one meter .

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