A Three Dimensional Non-Singular Modelling of Rigid Manipulators.

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 Jacobian 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 as 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 definition, and using the equations interpreted in a fixed references frame.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA189707

Entities

People

  • Sadrettin Altinok

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Angular Acceleration
  • Angular Momentum
  • Angular Motion
  • Center Of Gravity
  • Computer Programs
  • Computer Simulations
  • Computers
  • Coordinate Systems
  • Dynamics
  • Engineering
  • Equations
  • Equations Of Motion
  • Euler Angles
  • Mechanical Engineering
  • Moment Of Inertia
  • Simulations
  • Three Dimensional

Readers

  • Control Systems Engineering.
  • Linear Algebra
  • Robotics and Automation.

Technology Areas

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