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User-Aided Tracking Robot
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2016 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

The use of domestic robots seems strikingly sparse in comparison to other fields of modern technology. It is plausible to assume that the lack of pull within the area is due to an unbalance between necessity and cost for the average customer, which in turn could be caused by a prevailing belief that complete autonomy is a must for a domestic robot. This thesis considers a simplified take on tracking and a robot that on the contrary is completely de-pendent on user involvement. Three sides to such an application were stud-ied; the prospect of using infrared light for directional sensing, the di↵erence in performance between infrared and ultrasonic distance-measurement and the complications that are related to omni-wheel maneuvering. The bulk of the research was conducted with the help of a robotic prototype that was constructed by the authors.The outcome of the research boils down to three conclusions. Utilizing infrared communication in a long range while maintaining an angular re-ception field that is narrow poses many difficulties, it can however not be dismissed as a way of determining the desired direction of travel for the kind of tracking application that is considered. The results indicate that a distance-measuring sensor using ultrasonic sound performs more consistently than one using infrared light, wherefore ultrasonic technology is deemed to be preferable within the context. Finally, although a non-regulated motor-drive has an eminently negative affect on the dynamics of an omni-wheel setup, there is reason to believe that it would not pose an issue in a func-tioning tracking applicationFrom a broader perspective the outcome of this research might point a finger in a whole new direction of domestic robotics.

Abstract [sv]

Plattformen f¨or samarbete mellan anv¨andare och robot i en sp˚arande till¨ampningAnv¨andandet utav hush˚allsrobotar verkar i relation till ¨ovrig teknisk utveck-ling vara p˚afallande begr¨ansat. Det kan anses vara rimligt att detta beror p˚a en r˚adande obalans mellan deras n¨odv¨andighet och deras pris, vilket i sin tur kan bero p˚a en ¨overtygelse att komplett automation ¨ar en n¨odv¨andighet. Rapporten betraktar tillskillnad fr˚an denna ¨overtygelsen en robot vars funk-tionalitet i h¨ogsta grad ¨ar beroende av anv¨andarens involvering. Tre rele-vanta aspekter har identifierats och unders¨okts inom den h¨ar rapporten. Majoriteten av forskningen genomf¨ordes med hj¨alp av en framtagen proto-typ som anv¨ander omni-hjulsdrift f¨or man¨ovrering, ultraljud och infrar¨ott ljus f¨or avst˚andsm¨atning samt infrar¨ott ljus f¨or kommunikation. F¨or att ve-tenskapligt kunna utv¨ardera de valda aspekterna s˚a har litteraturstudier och experiment genomf¨orts.Baserat p˚a den utf¨orda forskningen s˚a har tre slutsatser kunnat dras. Rik-tad l˚angdistans kommunikation med infrar¨ott ljus har ej ˚astadkommits, dock diskuteras potentiella s¨att som ej unders¨okts. Resultaten p˚avisar att en ult-raljuds avst˚andssensor fungerar mer konsekvent ¨an infrar¨ott ljus och anses d¨armed vara b¨ast l¨ampad f¨or applikationen. En icke-reglerad motordrift har i h¨ogsta grad en negativ inverkan p˚a funktionaliteten i omni-hjulsdynamiken, det finns dock sk¨al till att tro att denna problematik skulle kunna undvikas om logik som till˚ater roboten att f¨olja efter sin anv¨andare implementerats.Iett st¨orre perspektiv str¨avar den h¨ar forskningen efter att kunna ¨oppna en d¨orr f¨or ett nytt s¨att att se p˚a konstruktionen av hush˚allsrobotar.

Place, publisher, year, edition, pages
2016. , 51 p.
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-190856OAI: diva2:953305
Available from: 2016-08-17 Created: 2016-08-17 Last updated: 2016-08-17Bibliographically approved

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