Title

A research study on synchronous drive for robots

Date of Publication

2006

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science

College

College of Computer Studies

Department/Unit

Computer Science

Thesis Adviser

Clement Y. Ong

Defense Panel Member

Alexis Pantola
Karlo Campos
Joel P. Ilao

Abstract/Summary

The synchronous drive system, with its design and kinematics, is a promising drive system. The drive system is appropriate in surveillance or industry-related applications. Despite this, a formal procedure that can aid robot designers in checking, testing and correcting the robot for odometric errors does not exist.

The benchmark method for synchronous drive systems is a testing procedure designed to uncover the odometry errors a particular drive system might encounter. The study focused in determining the systematic errors since the non-systematic errors are impossible to represent accurately. The test procedure to be developed for the synchronous drive focuses on four aspects on the development of the benchmark method. First, the research studies the University of Michigan Benchmark method which is the basis for the resting procedure. Second is the study of the kinematics of the synchronous drive system, which uncovers the possible errors as early as possible. Third, it considers the development of methods and testing procedures that are able to measure and quantify the data through testing and data gathering. A research on the effective benchmark path is developed for isolating sources of systematic errors in a synchronous drive system. The benchmark path is formulated based on studying three different types of paths namely, the straight line path, right turn path and the curvilinear path. Lastly, it characterizes the performance of the synchronous drive system via analysis of the results of the testing procedure. Through characterization, the percentage of errors and performance can be expressed quantitatively and qualitatively which is going to be the basis of the mobile robot calibration.

A three-wheeled synchronous driven robot is used to test the benchmark method. Calibrations and modifications are going to be applied on the robot to test the consistency of the benchmark method in detecting the errors and improving the system's performance. After the necessary adjustments, it was determined that around 78% of the system's error was reduced.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU13810

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. ; 29 cm.

Keywords

Robots--Motion; Robots--Dynamics; Robotics; Robots, Industrial

This document is currently not available here.

Share

COinS