Accession Number : ADA189707

Title :   A Three Dimensional Non-Singular Modelling of Rigid Manipulators.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Altinok, Sadrettin

PDF Url : ADA189707

Report Date : Dec 1987

Pagination or Media Count : 105

Abstract : There are several common approaches used to obtain the kinematic and dynamic equations which describe the motion of robot manipulators. However, a problem arises when these conventional body oriented robot arm kinematic equations are used to simulate the manipulator motion. In this case, the Jacobian matrix which relates the end effector motion to joint angle variations becomes singular when two successive arm links align. When the robot arm passes through these singular points, the jacobian matrix is not invertible, and as a result of this, the motion cannot be simulated. This thesis investigates how this situation can be avoided by using a Newton Euler approach to variable definition, and using the equations interpreted in a fixed references frame.

Descriptors :   *EQUATIONS OF MOTION, *MANIPULATORS, ARMS(ANATOMY), DYNAMICS, KINEMATICS, MOTION, RIGIDITY, ROBOTS, ROBOTICS, COMPUTER PROGRAMS, ALIGNMENT, JOINTS, LINKAGES, TRANSFORMATIONS(MATHEMATICS), COORDINATES, INVERSION, THREE DIMENSIONAL, MATHEMATICAL MODELS, THESES

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE