Date of Award
Summer 1984
Document Type
Thesis - Restricted
Degree Name
Master of Science (MS)
Department
Electrical and Computer Engineering
First Advisor
Wu, Sherman H.
Second Advisor
Doerr, Thomas A.
Abstract
A duo-robot system with visual position feedback is developed. This system is utilized to solve the 2x2x2 version of the popular puzzle Rubik's Cube. Several group theory concepts are applied to the puzzle and the development of a solution algorithm. An on-line geometric solution to the inverse kinematic problem is utilized to provide open loop control of the Microbot MiniMover-5 manipulator arms. Libraries of cube and arm moves are developed to implement the solution of the cube, and visual feedback is employed to detect and compensate for errors in the position of the cube. The camera routines utilize several very simple edge detection schemes.
Recommended Citation
Widder, Kerry R., "A Microcomputer Controlled On-Line Duo-Robot System with Visual Feedback" (1984). Master's Theses (1922-2009) Access restricted to Marquette Campus. 4318.
https://epublications.marquette.edu/theses/4318