Masters Theses

Title

Program modeling and control synthesis for robotic manipulators

Abstract

"The control and programming methodology of industrial robots is becoming increasingly important. The speed and accuracy of data generation, and the performance of the robot are considered the most important factors in robotics control. This paper presents and discusses algorithms that solve for the inverse solution for a given point in space at a very high speed based on the top down abstract method. The algorithms are independent of any specific type of manipulator configuration or programming language. The algorithms were implemented or the IBM-PC using the FORTRAN language to control the Armdroid robot. The program generates 500 sets of data in 1.25 minutes. This paper also describes the Armdroid robot and presents its kinematic equations for both the forward and inverse solutions. Critical positions exist in the workspace of the robot where the inverse solutions become degenerate. Special algorithms are presented to resolve the degeneracy associated with these positions"--Abstract, leaf iii.

Advisor(s)

Dekock, Arlan R.

Committee Member(s)

Lee, Ralph E.
Ardayfio, David D., 1942-

Department(s)

Computer Science

Degree Name

M.S. in Computer Science

Publisher

University of Missouri--Rolla

Publication Date

1984

Pagination

ix, 47 leaves

Note about bibliography

Includes bibliographical references (leaf 46).

Rights

© 1984 Ramiz Najib Ballou, All rights reserved.

Document Type

Thesis - Citation

File Type

text

Language

English

Library of Congress Subject Headings

Robotics
Manipulators (Mechanism)
Robots -- Control systems

Thesis Number

T 5111

Print OCLC #

11299525

Link to Catalog Record

Full-text not available: Request this publication directly from Missouri S&T Library or contact your local library.

http://laurel.lso.missouri.edu:80/record=b2693327~S5

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