2026-09-19T12:16:46Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1232512021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Harry Asada.
Valdes, Gabriel(Gabriel D.)
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-12-13T18:57:42Z
2019-12-13T18:57:42Z
2019
2019
https://hdl.handle.net/1721.1/123251
1130060354
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (page 26).
This project aims to introduce a more robust navigation architecture for the Triple Scissor Extender Robot Arm (TSERA) at the d'Arbeloff Laboratory for Information Systems and Technology. TSERA was developed to access a confined area through a narrow channel, commonly known as the last one-foot problem found in final assembly, inspection, and maintenance operations within the aviation, automobile, and industrial equipment industries. Inspired from plant growth mechanisms, the robot is built from a sequence of expandable segments that can each extend and tilt. The current path planning algorithm computes arm motion by solving a series of inverse kinematic relations for each segment. This requires a user input of a three-dimensional coordinate to a kinematics solver for a robot in a complex and unknown operating space with parasitic displacement characteristics. This new path-planning design allows users to instead input a desired orientation for an expandable segment, utilizes a gradient ascent algorithm to determine the three-dimensional coordinate that would allow for that desired orientation, and then creates waypoints across the path in order to ensure minimal displacement error and reduce chances of damage to the robot's motors all in realtime. This solution allows for a more intuitive user experience with TSERA and increases robustness of the robot itself.
by Gabriel Valdes.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
26 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
A waypoint-driven gradient descent solution for a parallel robot
Thesis
application/pdf
2019-12-13T18:57:41Z
Publication
Bachelor
MechE
unknown
unknown
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<Abstract>This project aims to introduce a more robust navigation architecture for the Triple Scissor Extender Robot Arm (TSERA) at the d'Arbeloff Laboratory for Information Systems and Technology. TSERA was developed to access a confined area through a narrow channel, commonly known as the last one-foot problem found in final assembly, inspection, and maintenance operations within the aviation, automobile, and industrial equipment industries. Inspired from plant growth mechanisms, the robot is built from a sequence of expandable segments that can each extend and tilt. The current path planning algorithm computes arm motion by solving a series of inverse kinematic relations for each segment. This requires a user input of a three-dimensional coordinate to a kinematics solver for a robot in a complex and unknown operating space with parasitic displacement characteristics. This new path-planning design allows users to instead input a desired orientation for an expandable segment, utilizes a gradient ascent algorithm to determine the three-dimensional coordinate that would allow for that desired orientation, and then creates waypoints across the path in order to ensure minimal displacement error and reduce chances of damage to the robot's motors all in realtime. This solution allows for a more intuitive user experience with TSERA and increases robustness of the robot itself.</Abstract>
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