Mentz J. Motion Control Theory Needed in the Implementation of Practical Robotic Systems

Thesis submitted for the degree of Master of Science in Electrical Engineering. — Virginia Polytechnic Institute and State University, 2000. — 85 p.Two areas of expertise required in the production of industrial and commercial robotics are motor control and obstacle navigation algorithms. This is especially true in the field of autonomous robotic vehicles, and this application will be the focus of this work. This work is divided into two parts. Part I describes the motor types and feedback devices available and the appropriate choice for a given robotics application. This is followed by a description of the control strategies available and appropriate for a variety of situations. Part II describes the vision hardware and navigation software necessary for an autonomous robotic vehicle. The conclusion discusses how the two parts are coming together in the emerging field of electric smart car technology.
The content is aimed at the robotic vehicle designer. Both parts present a contribution to the field but also survey the required background material for a researcher to enter into development. The material has been made succinct and graphical wherever appropriate.Motion control.
Choosing a motion control technology.
The state of the motion control industry.
The state of motion control academia.
Soft computing.
A practical implementation.
A conclusion with an example.
Automated navigation.
Introduction to navigation systems.
Image processing techniques.
A novel navigation technique.