2026-09-19T17:15:25Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/627532022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Daniela Rus.
Faulkner, Matthew N
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2011-05-09T15:30:21Z
2011-05-09T15:30:21Z
2011
2011
http://hdl.handle.net/1721.1/62753
717638127
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.
Cataloged from PDF version of thesis.
We developed an instrumented tool system comprised of wireless nodes and sensor systems to facilitate distributed robotic assembly tasks. This robotic system was deployed on two separate robotic assembly scenarios: one scenario used programmable autonomous beacons to facilitate precise localization of an assembly robot within a mock airplane wing, while the second used programmable assembly components to simplify sensing and coordination in a distributed, multi-robot assembly task. An instrumented tool system comprised of two types of programmable nodes (beacons and assembly components) and two types of robot-mounted sensors was designed, implemented, and tested. On-board microprocessors allow each element of the system to perform sensing and communicate over an infrared communication protocol. Algorithms for sensing and distributed communication were developed to perform local sensing tasks between assembly robots and instrumented materials.
by Matthew N. Faulkner.
M.Eng.
220 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Instrumented tools and objects : design, algorithms, and applications to assembly tasks
Thesis
application/pdf
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Publication
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<Abstract>We developed an instrumented tool system comprised of wireless nodes and sensor systems to facilitate distributed robotic assembly tasks. This robotic system was deployed on two separate robotic assembly scenarios: one scenario used programmable autonomous beacons to facilitate precise localization of an assembly robot within a mock airplane wing, while the second used programmable assembly components to simplify sensing and coordination in a distributed, multi-robot assembly task. An instrumented tool system comprised of two types of programmable nodes (beacons and assembly components) and two types of robot-mounted sensors was designed, implemented, and tested. On-board microprocessors allow each element of the system to perform sensing and communicate over an infrared communication protocol. Algorithms for sensing and distributed communication were developed to perform local sensing tasks between assembly robots and instrumented materials.</Abstract>
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