Date of Award

Summer 1984

Degree 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.

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