Pick and Place algorithms for mobile manipulators with camera feedback

Buursma, Jasper (2018) Pick and Place algorithms for mobile manipulators with camera feedback. Master's Thesis / Essay, Industrial Engineering and Management.

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Abstract

The topic of this research is a pick and place task performed by a mobile robot equipped with an underactuated manipulator. In the industry creating more flexibility and versatility along the production chain is the key to increase the productivity. In fact, a lot of factories nowadays are aiming to automatize the most part of the work, e.g. warehouse organization. Many of this tasks are performed by mobile robots; therefore, increasing their capabilities and independence from the human surveillance is a crucial step toward a fully automated industry. The main challenges to overcome are the recognition of the objects, and its tracking during the robot movements. Robust control algorithms to perform the approach, picking and placing tasks are the keystone to reliably complete an autonomous task. Establishing the functional working of the design allows for advanced controllers to be tested prior to implementation in industrial environments. The work of this thesis fits in this framework, developing and testing algorithms for a real case scenario always with an eye to the hardware design of the experiments. We provide a custom solution for an omnidirectional robot equipped with a manipulator, that enables several possible research topics for future development.

Item Type:	Thesis (Master's Thesis / Essay)
Supervisor name:	Cao, M. and Jayawardhana, b>
Degree programme:	Industrial Engineering and Management
Thesis type:	Master's Thesis / Essay
Language:	English
Date Deposited:	30 Oct 2018 15:09
Last Modified:	18 Mar 2022 13:42
URI:	https://fse.studenttheses.ub.rug.nl/id/eprint/18768

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