Graduate Thesis Or Dissertation

Analytical and visual tools for robot kinematics

Public Deposited

Downloadable Content

Download PDF


Attribute NameValues
  • Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest a need for computer-aided kinematic analysis, integrated with more conventional robotic tools. In this paper, we address this problem in four steps. The first step is to design a simple, yet sufficiently general, representation of robot arm links, which we call the orthogonal representation. The second step is to design and implement a module to generate the Forward Kinematic Equation automatically in algebraic form for arbitrary robot arm configurations. The third step is to complement the kinematics module with a robot simulator and a graphic display. The fourth step is to attack the generally intractable Inverse Kinematic problem by analyzing frequently-occurring subconfigurations, and then implementing subsolutions from which the entire arm's solution is built.
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Academic Affiliation
Non-Academic Affiliation
Rights Statement
Peer Reviewed
Digitization Specifications
  • File scanned at 300 ppi (Monochrome) using ScandAll PRO 1.8.1 on a Fi-6670 in PDF format. CVista PdfCompressor 4.0 was used for pdf compression and textual OCR.



This work has no parents.

In Collection: