Masters Theses

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-

Committee Member(s)

Enke, David Lee, 1965-
Tauritz, Daniel R.


Engineering Management and Systems Engineering

Degree Name

M.S. in Engineering Management


University of Missouri--Rolla

Publication Date

Fall 2003


x, 63 pages

Note about bibliography

Includes bibliographical references (pages 59-62).


© 2003 Ira James Dunn, All rights reserved.

Document Type

Thesis - Restricted Access

File Type




Subject Headings

Robots, Industrial -- Design and construction
Manipulators (Mechanism)

Thesis Number

T 8460

Print OCLC #


Link to Catalog Record

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