Masters Theses


“This paper deals with the mathematical modeling of robot arms. Modeling robot arms includes finding a suitable way to describe a robot, turning the description into a mathematical system, and using the system to find a set of equations which can be used to control the robot.

One of the problems associated with robot modeling is that it involves a great deal of mathematics. When the process is done by hand, the large volume of mathematics makes the process very time consuming and prone to errors. These problems are part of the motivation for automating the modeling of robots.

ARMS (Arbitrary Robot Modeling System) is an automation of part of the modeling process. It provides a convenient way to describe robot arms and turns the descriptions into mathematical systems. It is based in part on the methods of Richard Paul (Massachusetts Institute of Technology) and C. Y. Ho (University of Missouri--Rolla). In particular, ARMS prompts the user for certain characteristics of a robot arm. From this description ARMS generates the link parameter table and A matrices for the robot.

This paper contains a complete listing of the ARMS code along with full documentation and a user's guide. It also contains a discussion of the changes in robot modeling theory that were necessary to allow ARMS to correctly model arbitrary robot arms”--Abstract, page ii.


Ho, C. Y. (Chung You), 1933-1988

Committee Member(s)

Wilkerson, Ralph W.
Kluczny, Raymond Michael


Computer Science

Degree Name

M.S. in Computer Science


University of Missouri--Rolla

Publication Date

Spring 1987


vi, 98 pages

Note about bibliography

Includes bibliographical references (pages 50-51).


© 1987 William Richard Gerlt, All rights reserved.

Document Type

Thesis - Open Access

File Type




Thesis Number

T 5469

Print OCLC #