Non-Singular Modeling of Rigid Manipulators.

Abstract

A problem arises when conventional kinematic equations that minimize computational time are used to model a rigid revolute robot arm. Mathematical singularities result when successive link axes line up such that their angles are 0 or 180 degrees. This may result in erratic of singularity. One solution is to spend a minimum amount of time at the singular position or to avoid this position altogether. Another solution is to use other sets of equations, instead of the regular resolved-rate equations, to model the robot arm. This thesis shows how using equations based on Newton's Second Principle of dynamics for three link, two degree of freedom manipulator, the problem of singularity is avoided. The equations are demonstrated in a simulation program. Keywords: Robotics, Robot, Simulation, Singularity, Modeling, Dynamic equations of Motion, Free body analysis.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1986
Accession Number
ADA176609

Entities

People

  • Khayyam Mohammed

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Angular Acceleration
  • Angular Momentum
  • Center Of Gravity
  • Computer Programs
  • Computer Simulations
  • Computers
  • Diagrams
  • Dynamics
  • Engineering
  • Equations
  • Equations Of Motion
  • Euler Angles
  • Joints (Anatomy)
  • Manipulators
  • Mechanical Engineering
  • Simulations
  • United States

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy