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Title: The design and implementation of vision-based behavioural modules for a robotic assembly system
Author: Chongstitvatana, Prabhas
Awarding Body: University of Edinburgh
Current Institution: University of Edinburgh
Date of Award: 1992
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The work described in this thesis is about how to program robots to work reliably in the presence of uncertainty. Some architectural principles are proposed which address the problem of decomposing robotic assembly tasks into modular units such that a robot program can be implemented efficiently, tested easily, and can be maintained or modified without undue complexity. This architecture also provides a framework to integrate sensors into a robotic assembly system. These modular units are called behavioural modules. They perform their tasks reliably. The problem of uncertainty is dealt with by encapsulating sensing and variation-reducing strategies inside these modules. Experiments are performed with a working robotic assembly system using vision-based behavioural modules. Analysis of this system validates the principles presented in this thesis.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available