Analytical and visual tools for robot kinematics Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/h415pd838

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  • 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.
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  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-06-28T21:30:00Z (GMT) No. of bitstreams: 1 HarrisCoppolaMarciaM1988.pdf: 562635 bytes, checksum: c80fe7ad516afe96b0e67c3de6a23b51 (MD5)
  • description.provenance : Made available in DSpace on 2013-06-28T21:30:00Z (GMT). No. of bitstreams: 1 HarrisCoppolaMarciaM1988.pdf: 562635 bytes, checksum: c80fe7ad516afe96b0e67c3de6a23b51 (MD5) Previous issue date: 1988-04-12

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