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Degree

Master of Science (MS), Ohio University, Mechanical Engineering (Engineering), 1999.

Abstract

The focus of this thesis is the Advanced Research Manipulator II (ARMII), an eight degree-of freedom manipulator. The ARMII is kinematically redundant, as it has more joints than are required for general spatial motions. ARMII forward and inverse pose (position and orientation) kinematics, the Jacobian matrix, and singularity configurations are presented. Inverse pose kinematics solutions are found by locking one arm joint and one wrist joint, thus providing a finite number of solutions. Control routines are presented for independent joint control, Cartesian pose control, esolved-rate control, and computed torque control. Independent joint control and Cartesian pose control are presented theoretically and have been implemented on the ARMII. Resolved-rate control is presented with performance optimization for joint limit avoidance, singularity avoidance, and obstacle avoidance. Computed torque control is presented theoretically. Simulations of resolved-rate control were successful in demonstrating motion improvements when performance optimization is included. Independent joint control and Cartesian pose control were successfully implemented on the ARMII and results have been provided.

Subject Headings

Engineering, Mechanical

Keywords

Advanced Research Manipulator II; kinematics; Cartesian pose control; esolved-rate control; computed torque control

Advisor

Robert L. Williams, II

Pages

165p.

Document number: ohiou1175796367
Permalink: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1175796367

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