This thesis presents my research on the hardware and software for
control of a novel robot based on the Stewart Platform. The robot has
six actuators which must be adjusted to arrive at the desired position
of the platform. This position must be specified by six position
parameters; namely the...
A program has been written to investigate the
dynamics of robot manipulators during task execution.
The program simulates robot motion along a path specified
by the user. A smooth trajectory is generated by
interpolation in joint space. Forces and torques on
actuators are calculated at intermediate points, using a
recursive...
Expert systems have been suggested as a solution
for difficult problems, including FMS scheduling. As
one of the aspects of artificial intelligence (AI), expert
systems have achieved considerable success in recent
years in medical science, chemistry, and engineering.
However, building an expert system is a difficult
task, the most crucial...
This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within...
This thesis presents a control system for a walking
machine leg. The leg is representative of one of the six
legs required for a proposed walking machine based on the
geometry of the darkling beetle.
Each of the three joints is controlled by a DC servo
motor mounted to the...
This thesis presents a model of legged locomotion in
which position and velocity of body are directly controlled
by positions and velocities of feet. One central
relationship between foot acceleration, leg stroke and body
velocity is developed. Procedures for determining all
parameters of a step sequence including periods of constant...
This thesis investigates a simple dynamic model of the hind leg
of a beetle during initiation of a step. The primary assumption was
that the full load of the body was carried on the hind leg during
this time. That is, the only forces on the body were that of...
This thesis examines the influence on range-of-motion
of beetle body of changes in leg segment
parameters. From beetle's leg orientation, influence of
the following leg segment parameters are investigated:
coxa length, coxa twist and body-coxa joint.
Kinematic equations are derived for legs of the
beetle. Roots of quartic polynomials obtained...
This thesis presents a discussion of motion of a six-legged walking
machine following removal of one leg constraint. To take a step, one leg
must be lifted and placed at some other position. As soon as the constraint
provided by the leg is removed, however the machine begins to fall....
A method to design foot trajectory in Cartesian
coordinates for a six-leg walking machine is presented in
this thesis. The walking machine is based on the geometry of
the darkling beetle.
The walking procedure developed by Y.S. Baek is
introduced first to provide step length and leg swing time
for...