| dc.contributor.author | Mahodaya, Vicky Ramnath | |
| dc.description.abstract | This paper outlines the design and development of a robotic arm that can
automatically detect and locate an object within its working envelope, reach to the object,
grab the object with the aid of force feedback, bring it back to the user and transition back
to user-control mode. A smart robotic arm like this can be used to control a brain computer
interface (BCI) enabled prosthetic arm. This could be done by controlling the arm's coarse
motion using BCI signals to the arm in manual mode while the fine motion control required
for object capturing and retrieval could be performed by the smart robotic arm upon
automatic detection of the object.
The smart robotic arm was developed by interfacing force, distance and position
sensors with a robotic arm possessing three actuated joints. Using feedback control and
direct-inverse kinematic equations, the arm was controlled to perform autonomous object
detection and retrieval. | en_US |
| dc.publisher | North Dakota State University | en_US |
| dc.rights | NDSU policy 190.6.2 | en_US |
| dc.title | Smart Robotic Arm Control through Autonomous Object Detection and Retrieval | en_US |
| dc.type | Master's Paper | en_US |
| dc.date.accessioned | 2024-02-16T19:05:15Z | |
| dc.date.available | 2024-02-16T19:05:15Z | |
| dc.date.issued | 2010 | |
| dc.identifier.uri | https://hdl.handle.net/10365/33672 | |
| dc.subject.lcsh | Robots -- Control systems. | en_US |
| dc.subject.lcsh | Artificial arms -- Design and construction. | en_US |
| dc.subject.lcsh | Robotics -- Human factors. | en_US |
| dc.rights.uri | https://www.ndsu.edu/fileadmin/policy/190.pdf | en_US |
| ndsu.degree | Master of Science (MS) | en_US |
| ndsu.college | Engineering | en_US |
| ndsu.department | Computer Science | en_US |
| ndsu.program | Computer Science | en_US |
| ndsu.advisor | Schroeder, Mark | |
