Keywords and Phrases
Follow the Leader strategy
"Variable Geometry Truss robot manipulators (VGTs) using parallel structure show many characteristics superior to serially-connected manipulators, including low weight, high structural strength, and a high number of degrees of freedom. The characteristics of one particular VGT, the Double-Octahedral Parallel Module (DOPM), allow the truss structure to move and compress with three degrees of freedom, while maintaining a “hollow” geometry and low weight. This thesis describes a new motion method for the DOPM-VGT, called Follow the Leader, in which many serially-connected VGT modules move single file in a path to reach a goal trajectory. This strategy relieves the system from the necessity of determining complex obstacle avoidance strategies. Moreover, Follow the Leader motion allows the VGT manipulator to work in a decentralized manner, minimizing interconnectivity and central processing requirements.
This thesis improves upon existing control techniques for DOPM chains by implementing an on-board neural network. It also creates a theoretical platform on which autonomous and distributed motor control of VGTs can be employed"--Abstract, page iii.
Dagli, Cihan H., 1949-
Enke, David Lee, 1965-
Tauritz, Daniel R.
Engineering Management and Systems Engineering
M.S. in Engineering Management
University of Missouri--Rolla
x, 63 pages
© 2003 Ira James Dunn, All rights reserved.
Thesis - Restricted Access
Robots, Industrial -- Design and construction
Print OCLC #
Link to Catalog Record
Electronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library.http://merlin.lib.umsystem.edu/record=b5090669~S5
Dunn, Ira James, "Follow the leader motion strategy in double-octahedral parallel trusses" (2003). Masters Theses. 2470.
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