University of Illinois Urbana-Champaign

Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications

Mathur, Dhruv Chandra

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https://hdl.handle.net/2142/121183

Description

Title
Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications
Author(s)
Mathur, Dhruv Chandra
Issue Date
2022-07-20
Director of Research (if dissertation) or Advisor (if thesis)
Kim, Joohyung
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
  • robotic system integration
  • modular robot
  • robotic manipulator
  • mobile manipulator
Abstract
This thesis describes the creation of a process to quickly and efficiently construct new applications using PAPRAS. PAPRAS is a Plug-And-Play Robotic Arm System developed in KIMLAB (Kinetic Intelligent Machine LAB), and can be used for many different tasks in various environments. The development of this process includes designing printed circuit boards to simplify the hardware setup of new applications. A software pipeline is also designed to create all the necessary files for a new application to run on the PAPRAS framework. With these components, the entire process to create a new application is detailed. The process is validated through the rapid development of several applications. These applications range from one-arm to four-arm setups and include both static environments and mobile environments using a mobile platform. The process described here is generalizable to any desired application of the PAPRAS system.
Graduation Semester
2022-08
Type of Resource
Thesis
Copyright and License Information
Copyright 2022 Dhruv Chandra Mathur

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