Tesi etd-11082011-233342 |
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Tipo di tesi
Tesi di laurea specialistica
Autore
LICOFONTE, ALESSIA
URN
etd-11082011-233342
Titolo
Sensorization of continuum robots for reconstructing spatial configuration: theoretical model and experimental validation on a robotic prototype
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA BIOMEDICA
Relatori
relatore Prof.ssa Laschi, Cecilia
Parole chiave
- continuum robot
- position sensor
- spatial configuration
Data inizio appello
06/12/2011
Consultabilità
Non consultabile
Data di rilascio
06/12/2051
Riassunto
This thesis deals with the sensorization of continuum robots for reconstructing spatial
configuration. Since at the present time this is prevalently achieved using
not-on-board optical methods, an embedded system is needed. In order to achieve this result, a broader study about difficulties when reconstructing the position of
continuum robots is introduced. Then, a theoretical method to solve these issues
is proposed. The innovative idea is based on applying concepts concerning signals
theory to geometric parameters of continuum arms. A new material is characterised
and chosen as good candidate for sensorization of flexible manipulators. A practical
application on a octopus-inspired robot arm is finally shown and discussed.
configuration. Since at the present time this is prevalently achieved using
not-on-board optical methods, an embedded system is needed. In order to achieve this result, a broader study about difficulties when reconstructing the position of
continuum robots is introduced. Then, a theoretical method to solve these issues
is proposed. The innovative idea is based on applying concepts concerning signals
theory to geometric parameters of continuum arms. A new material is characterised
and chosen as good candidate for sensorization of flexible manipulators. A practical
application on a octopus-inspired robot arm is finally shown and discussed.
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