Print Email Facebook Twitter Door Opening and Closing for Nonholonomic Non-Redundant Service Robots Title Door Opening and Closing for Nonholonomic Non-Redundant Service Robots Author Ruskamp, K.J.H. Contributor Van der Helm, F.C.T. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department BioMechanical Engineering Programme biorobotics Date 2011-06-24 Abstract The number of degrees of freedom (DOF’s) required for the task of opening and closing a door by a service robot has not been a subject of research. This paper analyses the implications of using nonholonomic non-redundant service robots for this task as part of our research studying how the reduction of DOF's effects a robot's capability. We will show only one DOF remains after the door handle has been grabbed by a robot. Using mathematical simulations the dependence of the robot's path on the geometry of the door-robot system is analysed. As a result we find the system shows both stable and unstable behavior. Analysing the influence of walls and system geometry on the required positioning accuracy of a service robot we present a method to determine the robot dimensions. The width of the robot's base and the length of the robot's arm are the most important parameters. To reference this document use: http://resolver.tudelft.nl/uuid:2c37da04-2909-41d6-81e4-32104953985e Part of collection Student theses Document type master thesis Rights (c) 2011 Ruskamp, K.J.H. Files PDF Thesis_Koen_Ruskamp.pdf 7.41 MB Close viewer /islandora/object/uuid:2c37da04-2909-41d6-81e4-32104953985e/datastream/OBJ/view