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Kinematics, Controls, and Visualization of Robotic Manipulators.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Kinematics, Controls, and Visualization of Robotic Manipulators./
作者:	Ojha, Sagar.
面頁冊數:	1 online resource (91 pages)
附註:	Source: Masters Abstracts International, Volume: 85-12.
Contained By:	Masters Abstracts International85-12.
標題:	Mechanical engineering. -
電子資源:	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:

557493
Mechanical engineering.
Subjects--Index Terms:

Cyclic coordinate descentIndex Terms--Genre/Form:

554714
Electronic books.

Kinematics, Controls, and Visualization of Robotic Manipulators.
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653 $a Robotic manipulator
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