A three dimensional non-singular modelling of rigid manipulators
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Authors
Altinok, Sadrettin
Subjects
Advisors
Smith, D.L.
Date of Issue
1987-12
Date
Publisher
Language
en_US
Abstract
There are several common approaches used to obtain the
kinematic and dynamic equations which describe the motion of
robot manipulators. However, a problem arises when these
conventional body oriented robot arm kinematic equations are
used to simulate the manipulator motion. In this Case, the
jocobian matrix which relates the end effector" motion to
joint angle variations becomes singular when two successive
arm links align. When the robot arm passes through these
singular points, the jacobian matrix is not invertible, and
a result of this, the motion cannot be simulated. This
thesis investigates how this situation can be avoided by
using a Newton Euler approach to variable difinition, and
using the equations interpretted in a fixed reference frame.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
105 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.