Show simple item record

dc.contributor.advisorWoo, Peng-Yungen_US
dc.contributor.authorPakalapati, Jasvanth Satya Prabhakaren_US
dc.date.accessioned2017-08-02T21:16:11Z
dc.date.available2017-08-02T21:16:11Z
dc.date.issued2014
dc.identifier.urihttp://commons.lib.niu.edu/handle/10843/17737
dc.descriptionAdvisors: Peng Yung Woo.en_US
dc.descriptionCommittee members: Donald S. Zinger; Martin kocanda.en_US
dc.description.abstractRobot arm is a robot manipulator with similar functions of a human arm. There are many research and industrial applications where robot arm is replacing humans. This thesis aims at analyzing and achieving the human-like behavior by robot arm manipulators. Writing skills would be a significant challenge in this research. This thesis aims at developing a robot arm which can help people in writing. A pen is mounted on the end of the robot's gripper and is programmed to write down the words that are instructed to it.en_US
dc.description.abstractThe patterns of handwriting are studied, and a strategy is developed to plan the trajectory of each letter. These paths are transformed into the vector form of joint angles and robot axis position in which order and speed of the movement can be developed to imitate human hand writing. The practicality of these methods is demonstrated by using the SCORBOT-ER-4u robot arm from Intelitek. It is a five-link arm similar to a human arm and has five degrees of freedom. It is a coordinate-based robotic system with encoder feedback. The system runs on syntax-based software SCORBASE, translated to robotic actuation by proprietary control hardware. Through this thesis, it has been proven that the algorithm developed can allow the robotic arm to write. This thesis could be a stepping stone for more opportunities in advanced robotic experiments at the Robotics and Intelligent Systems Laboratory.en_US
dc.format.extent91 pagesen_US
dc.language.isoengen_US
dc.publisherNorthern Illinois Universityen_US
dc.rightsNIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.en_US
dc.subject.lcshRobots--Control systemsen_US
dc.subject.lcshRoboticsen_US
dc.subject.lcshRoboticsen_US
dc.subject.lcshElectrical engineeringen_US
dc.titleHand writing using SCORBOT armen_US
dc.typeTexten_US
dc.contributor.departmentDepartment of Electrical Engineeringen_US
dc.description.degreeM.S. (Master of Science)en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record