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https://hdl.handle.net/10216/114146| Author(s): | Inês Pinto Frutuoso |
| Title: | Smart Collision Avoidance System for a Dual-Arm Manipulator |
| Issue Date: | 2018-07-13 |
| Abstract: | Robots have an ever increasing importance in today's society and in our daily life. Industry wise, dual arm robots play a central role since they are designed to behave in a similar manner to a human being and present a more versatile set of behaviors and tasks than a single arm robot.This thesis aims to operate in an anthropomorphic dual arm robot, that has two arms with 7 degrees of freedom each. The main goal of this project is to avoid that, while working, the arms bump into one another or with any obstacle in the environment. In order to achieve this several motion planners will be tested and a thorough analyses on their outcome will be discussed. |
| Description: | A crescente automatização do quotidiano humano bem como o aumento do uso de manipuladores na industria leva a uma maior investigação na área da robótica. É neste âmbito que surge este projecto. O trabalho é realizado num manipulador constituido por dois braços com 7 graus de liberdade cada e tem por objectivo impedir que estes colidam, quer um com o outro quer com qualquer obstáculo presente ao seu redor. Para tal um estudo será realizado sobre a eficácia de planeadores já desenvolvidos com o intuito de analisar quais os mais eficazes para o cenário presente. |
| Subject: | Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| TID identifier: | 202115119 |
| URI: | https://repositorio-aberto.up.pt/handle/10216/114146 |
| Document Type: | Dissertação |
| Rights: | openAccess |
| Appears in Collections: | FEUP - Dissertação |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 277659.pdf | Smart Collision Avoidance System for a Dual-Arm Manipulator | 5 MB | Adobe PDF |  View/Open |
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