2026-09-22T14:35:36Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/121183 2025-11-07 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

Kim, Joohyung 2022-08 application/pdf en text Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2024-08-01 The student, Dhruv Mathur, accepted the attached license on 2022-07-19 at 12:20. The student, Dhruv Mathur, submitted this Thesis for approval on 2022-07-20 at 11:21. This Thesis was approved for publication on 2022-07-20 at 14:18. DSpace SAF Submission Ingestion Package generated from Vireo submission #18376 on 2023-12-04 at 17:29:45 Design of a process to create PAPRAS (Plug-And-Play Robotic Arm System) applications Mathur, Dhruv Chandra 2022-07-20 robotic system integration modular robot robotic manipulator mobile manipulator 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. Thesis eng https://hdl.handle.net/2142/121183 Copyright 2022 Dhruv Chandra Mathur M.S. Thesis Electrical & Computer Engr University of Illinois at Urbana-Champaign Electrical & Computer Eng