Roman Mach's Masters Thesis

This thesis covers work performed at the University of Washington's Electrical Engineering Department under Robert. W. Albrecht, my thesis advisor, and covers the design and implementation of LLAMA, a mobile robot programming and control language.

This version converted from from PageMaker 4.0 to Word 2.0. As of 12/10/94 most everything is converted except hyperlinks within the document and for every TOC item below. Added style sheets and some graphic fixups 1/16/06.

Contents (C) 1992-2006 Roman Mach

1 Introduction

2 Background

3 The System Interface

4 Mobile Robot Systems

5 The LLAMA Control Language

6 Simulating Robot Systems

7 The LLAMA Robot Control System

8 Design and Test of Two Modules

9 Conclusion


Appendix A-Robot Trajectory Simulation

Appendix B-Command Specifications

Appendix C-The LLAMA Users Manual

Last Revised: 1/16/2006

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