Motion Control Theory Needed in the Implementation of Practical Robotic Systems

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dc.contributor.authorMentz, Jamesen
dc.contributor.committeechairVanLandingham, Hugh F.en
dc.contributor.committeememberConners, Richard W.en
dc.contributor.committeememberKachroo, Pushkinen
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2014-03-14T20:34:58Zen
dc.date.adate2000-05-04en
dc.date.available2014-03-14T20:34:58Zen
dc.date.issued2000-04-04en
dc.date.rdate2001-05-04en
dc.date.sdate2000-05-04en
dc.description.abstractTwo 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.en
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-05042000-15390036en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-05042000-15390036/en
dc.identifier.urihttp://hdl.handle.net/10919/32172en
dc.publisherVirginia Techen
dc.relation.haspartjmentz.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectobstacle avoidanceen
dc.subjectnavigationen
dc.subjectroboticsen
dc.subjectmotion controlen
dc.titleMotion Control Theory Needed in the Implementation of Practical Robotic Systemsen
dc.typeThesisen
thesis.degree.disciplineElectrical and Computer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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