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esv masters thesis (r13 final etd).pdf (1.96 MB)
ETD Abstract Container
Abstract Header
A Low-cost Mobile Manipulator for Industrial and Research Applications
Author Info
Venator, Edward Stephen
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665
Abstract Details
Year and Degree
2013, Master of Engineering, Case Western Reserve University, EECS - System and Control Engineering.
Abstract
ABBY is a mobile industrial manipulator, a mobile robot equipped with an industrial robotic arm. The goal in creating this robot was to demonstrate that a robust research platform for mobile industrial manipulation can be created quickly at low cost. This goal was achieved by leveraging commercially-available mass produced hardware and open source software. The resulting mobile manipulator incorporates a suite of commercially-available sensors and processing hardware to enable the robot to operate as an intelligent agent alongside humans. The robot demonstrated its abilities by performing simple navigation and manipulation tasks in a laboratory setting, and will soon be employed in research on autonomous kitting in industrial environments.
Committee
Gregory Lee, PhD (Advisor)
Murat Cavusoglu, PhD (Committee Member)
Roger Quinn, PhD (Committee Member)
Pages
95 p.
Subject Headings
Electrical Engineering
;
Engineering
;
Industrial Engineering
;
Robotics
;
Systems Design
Keywords
robot
;
robotics
;
industrial robot
;
mobile manipulator
;
mobile manipulation
;
industrial manipulator
;
robotic arm
;
industrial robotic arm
;
kitting
;
ROS
;
ROS Industrial
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Citations
Venator, E. S. (2013).
A Low-cost Mobile Manipulator for Industrial and Research Applications
[Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665
APA Style (7th edition)
Venator, Edward.
A Low-cost Mobile Manipulator for Industrial and Research Applications.
2013. Case Western Reserve University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665.
MLA Style (8th edition)
Venator, Edward. "A Low-cost Mobile Manipulator for Industrial and Research Applications." Master's thesis, Case Western Reserve University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665
Chicago Manual of Style (17th edition)
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Document number:
case1370512665
Download Count:
2,667
Copyright Info
© 2013, some rights reserved.
A Low-cost Mobile Manipulator for Industrial and Research Applications by Edward Stephen Venator is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.