Masters Theses

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, page 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 pages

Note about bibliography

Includes bibliographical references (page 46).

Rights

© 1984 Ramiz Najib Ballou, All rights reserved.

Document Type

Thesis - Open Access

File Type

text

Language

English

Subject Headings

RoboticsManipulators (Mechanism)Robots -- Control systems

Thesis Number

T 5111

Print OCLC #

11299525

Electronic OCLC #

1086309018

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