Masters Theses


"In order to increase the operational speed and positional accuracy of robotic mechanisms, on-line force control has been proposed. Because of the complexity of exact dynamical formulations, real-time computation of joint forces may be too slow.

Since force control is accomplished with a dedicated computer, unique, dedicated sets of force equations are justified. An efficient force computation technique based on the algebraic expansion and recombination of exact dynamics formulations is presented. Developments of the robotics matrix notation and of a Lagrangian dynamics formulation are also presented. A generalized three link manipulator model is used to compare the computational complexities of this technique to that of other dynamics formulations.

The technique presented yields equations that are very well structured for insight into the design of the mechanism and controller. In addition, the resulting equations are the fastest form of the exact joint force expressions. The equations are ideally suited to the technique of tessellation and tabulation, thereby further enhancing the speed of force calculation. As a result, real-time joint force computation is now practical, enabling on-line force-control of robotic mechanisms"--Abstract, pages 1-2.


Koval, Leslie Robert

Committee Member(s)

Ardayfio, D. D.
Hansen, Peter G., 1927-2010
Ho, C. Y. (Chung You), 1933-1988


Mechanical and Aerospace Engineering

Degree Name

M.S. in Mechanical Engineering


University of Missouri--Rolla

Publication Date

Fall 1983


vii, 101 pages

Note about bibliography

Includes bibliographical references (pages 59-61).


© 1983 Dennis A. Dohogne, All rights reserved.

Document Type

Thesis - Restricted Access

File Type




Thesis Number

T 4984

Print OCLC #


Link to Catalog Record

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