Date of Award:
5-2009
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Electrical and Computer Engineering
Committee Chair(s)
Wei Ren
Committee
Wei Ren
Committee
YangQuan Chen
Committee
Brandon Eames
Abstract
Within the field of multi-robot control, there is a large focus in research involving consensus. In this thesis two parts will be studied. The first development of this thesis is a consensus-based robot arm platform. To implement, two robotic arms are developed and studied. The most effective robot arm is then utilized to create a robot arm network testbed. Consensus is used to coordinate several robot arms and decentralize system computation. The research explores a platform to facilitate consensus on a group of robotic arms.
The second development is in Cartesian coordinate collective motion. This collective motion control combines consensus through coupling of Cartesian coordinates. The controller is presented with simulation and experimental validation. Integration of both parts of the thesis is then discussed in application. An example is provided to demonstrate usefulness. In conclusion, this thesis provides more control to a system of ground robots using collective motion and consensus-based robot arms.
Checksum
e8ba46c761b3366dc02a96544c27a8e1
Recommended Citation
Stuart, Daniel Scott, "Implementation of Robot Arm Networks and Experimental Analysis of Consensus-Based Collective Motion" (2009). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 440.
https://digitalcommons.usu.edu/etd/440
Included in
Copyright for this work is retained by the student. If you have any questions regarding the inclusion of this work in the Digital Commons, please email us at .