Date of Publication

3-2012

Document Type

Master's Thesis

Degree Name

Master of Science in Manufacturing Engineering

Subject Categories

Manufacturing | Operations Research, Systems Engineering and Industrial Engineering

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Adviser

Arthur Pius P. Santiago

Defense Panel Chair

Nilo T. Bugtai

Defense Panel Member

Lord Kenneth M. Pinpin
Homer S. Co

Abstract/Summary

In the book Introduction to Robotics Mechanics and Control, John J. Craig states that the study of robotics concerns itself with the desire to synthesize some aspects of human function by the use of mechanisms, sensors, actuators, and computers. [1] but then again, it is hardly easy to emulate even the most basic human activities using robots. Take the motion of the human arm for example. The mere fact that we are able to move our arm through space whilst taking into account the multitude of obstacles present obstructing our path of motion is already a great achievement. Researchers have toiled to emulate different factors that make such feats possible, be it improving control design to make robot movement smoother [2], making it possible for a robot to avoid obstacles [3], or simply making the movements more human-like [4]. Technology is bound to improve and perhaps more aspects of human movement can be considered when designing and creating robots. This research aims to revisit many of the available control approaches and to provide a sequence of processes that improves the movement of a 6-DOF robotic arm.

Abstract Format

html

Language

English

Format

Electronic

Electronic File Format

MS WORD

Accession Number

CDTG005129

Shelf Location

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

Physical Description

75 leaves : ill. ; 1 computer optical disc

Keywords

Robotics

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