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Analysis and control of an eight degree-of-freedom manipulator
Nyzen, Robert J.

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

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.

Robert Williams, II. (Advisor)
165 p.

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Nyzen, R. (1999). Analysis and control of an eight degree-of-freedom manipulator. (Electronic Thesis or Dissertation). Retrieved from https://etd.ohiolink.edu/

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Nyzen, Robert. "Analysis and control of an eight degree-of-freedom manipulator." Electronic Thesis or Dissertation. Ohio University, 1999. OhioLINK Electronic Theses and Dissertations Center. 28 Jul 2015.

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Nyzen, Robert "Analysis and control of an eight degree-of-freedom manipulator." Electronic Thesis or Dissertation. Ohio University, 1999. https://etd.ohiolink.edu/

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