Constraint-aware distributed robotic assembly and disassembly
Name
825771440-MIT.pdf
Description
Full printable version
Size
7.42 MB
Format
Adobe PDF
Checksum (MD5)
d89c0afd627e72752fee4e4f16d5b623
Author(s)
Schoen, Timothy Ryan
Advisor(s)
Daniela Rus.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
In this work, we present a distributed robotic system capable of the efficient assembly and disassembly of complex three-dimensional structures. We introduce algorithms for equitable partitioning of work across robots and for the efficient ordering of assembly or disassembly tasks while taking physical constraints into consideration. We then extend these algorithms to a variety of real-world situations, including when component parts are unavailable or when the time requirements of assembly tasks are non-uniform. We demonstrate the correctness and efficiency of these algorithms through a multitude of simulations. Finally, we introduce a mobile robotic platform and implement these algorithms on them. We present experimental data from this platform on the effectiveness and applicability of our algorithms.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 83-85).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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