COOPERATIVE AND SUPERVISORY CONTROL FOR PAYLOAD MANIPULATION
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There are many tasks done by humans today that could be done by robots. One environment where robots are especially useful is space. Because of the limitations of astronauts, robots could be sent to a planetary environment to prepare a habitat. This thesis considers two problems that arise when considering sending robots to a planetary environment. The first problem is the cooperative control of two robots manipulating flexible payloads. The second problem investigates the communication between humans and robots using vision techniques. The goal of each problem is to produce a hardware demonstration in a laboratory environment to demonstrate some of the skills necessary to implement the ideas in a planetary environment. Several subsystems were developed by the Space Engineering Institute’s Robotics Space Colonization Team including an overhead camera system, a wireless communication network, a Kalman filter, and Central PC System Architecture. Without these systems, neither project could be accomplished. The first project goal was completed through several phases beginning with theoretical development of the robot and flexible object models. Simulation results proved the theory to be true and hardware demonstrations proved that the equations were robust. The second project goal was completed by introducing more subsystems into the robotics lab including a webcam with image recognition software, battery information functions, path planning algorithms, and trajectory tracking control laws. A hardware demonstration was produced that showed the robot performing the desired the user communicated through patterns.
Holmstrom, Kristen (2009). COOPERATIVE AND SUPERVISORY CONTROL FOR PAYLOAD MANIPULATION. Available electronically from