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Kinematics, Controls, and Visualization of Robotic Manipulators.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Kinematics, Controls, and Visualization of Robotic Manipulators./
Author:	Ojha, Sagar.
Description:	1 online resource (91 pages)
Notes:	Source: Masters Abstracts International, Volume: 85-12.
Contained By:	Masters Abstracts International85-12.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9798383162477

Kinematics, Controls, and Visualization of Robotic Manipulators.
Ojha, Sagar.

Kinematics, Controls, and Visualization of Robotic Manipulators. - 1 online resource (91 pages)

Source: Masters Abstracts International, Volume: 85-12.

Thesis (M.S.)--University of Maryland, Baltimore County, 2024.

Includes bibliographical references

This thesis presents kinematics analysis, 3D visualization tool, and motion-force controller for a six degree-of-freedom serial robotic manipulator. Denavit-Hartenberg (DH) convention and Cyclic Coordinate Descent (CCD) are chosen to be the frameworks of forward and inverse kinematics, respectively. The limitation of the existing CCD is identified, wherein the robot can be locked at the singular conditions, and consequently fails to reach the target. After analyzing and categorizing the singularity conditions, an unlock mechanism is developed on top of the conventional CCD to avoid singularity. The dynamics of the manipulator is analyzed using Lagrangian method to implement a motion-force controller. The objectives of a motion-force controller in an environment with obstacles are analyzed to develop a unified control algorithm for trajectory tracking and force control in the same direction. Numerical simulations, and digital twin visualization developed in VxSIM verify that the singularity-free CCD and the controller design are valid.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798383162477Subjects--Topical Terms:

561941
Robotics.
Subjects--Index Terms:

Cyclic coordinate descentIndex Terms--Genre/Form:

554714
Electronic books.

Kinematics, Controls, and Visualization of Robotic Manipulators.
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504 $a Includes bibliographical references
520 $a This thesis presents kinematics analysis, 3D visualization tool, and motion-force controller for a six degree-of-freedom serial robotic manipulator. Denavit-Hartenberg (DH) convention and Cyclic Coordinate Descent (CCD) are chosen to be the frameworks of forward and inverse kinematics, respectively. The limitation of the existing CCD is identified, wherein the robot can be locked at the singular conditions, and consequently fails to reach the target. After analyzing and categorizing the singularity conditions, an unlock mechanism is developed on top of the conventional CCD to avoid singularity. The dynamics of the manipulator is analyzed using Lagrangian method to implement a motion-force controller. The objectives of a motion-force controller in an environment with obstacles are analyzed to develop a unified control algorithm for trajectory tracking and force control in the same direction. Numerical simulations, and digital twin visualization developed in VxSIM verify that the singularity-free CCD and the controller design are valid.
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653 $a Cyclic coordinate descent
653 $a Digital twin
653 $a Force control
653 $a Inverse kinematics
653 $a Motion control
653 $a Robotic manipulator
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