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Design, Simulation and Testing of a Controller And Software Framework for Automated Construction by a Robotic Manipulator


Abstract The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS).

First, a literature review of bricklaying construction activity and existing robots’ performance is discus... (more)
Created Date 2019
Contributor Gandhi, Sushrut (Author) / Berman, Spring (Advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Subject Mechanical engineering / Robotics
Type Masters Thesis
Extent 71 pages
Language English
Copyright
Note Masters Thesis Mechanical Engineering 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis