We designed and built a low-cost human-scale gantry crane system, as an intelligent and collaborative tool for both collaborative robots and human operators to enable intuitive lift and transportation operations. The system was built on modularized and adjustable structures. A vision tracking control interface using an IR beacon and two camera tracking systems was designed and tested for planar motions. A position and gesture control interface was developed for the lifting. Moreover, this gantry crane is equipped with easy-to-use electronics, such as Arduino and Xbee, and it is programmed using open source libraries. It will serve as a platform for future research such as manipulator design, anti-swing control, and path planning algorithms.
This thesis discusses the design process, shows the hardware and software, and provides a demonstration of our system.
|Advisor:||Messner, William C.|
|Commitee:||Moaveni, Babak, Rife, Jason|
|School Location:||United States -- Massachusetts|
|Source:||MAI 56/03M(E), Masters Abstracts International|
|Subjects:||Mechanical engineering, Robotics|
|Keywords:||Gantry crane, Gesture control, PID control, User interface, Vision tracking|
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