Thesis
Method for tooltip planning of a non redundant hydraulic robot with joint speed constraints
Washington State University
Master of Science (MS), Washington State University
2018
Handle:
https://hdl.handle.net/2376/103474
Abstract
In this research, the first objective was to determine the efficacy of the most common open and closed form methods for robot inverse kinematics. This study was performed on two generic configurations, the SCARA (4dof) and L3 (5dof). This study concluded that though the closed form methods do result in an exact solution for the inverse kinematics problem, if a closed form solution was not possible, then an open-loop solution could be used in its place, though with some accuracy and path discrepancies. Next, a new method was developed. It takes minimum joint speed constraints into consideration so that tooltip control of a hydraulic robot with a joystick can be accomplished. Literature review prevailed that there are many studies to address this problem but for redundant robots (more than 6 dof). In this study, the developed method applies to non-redundant robots (with 6 dof).
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Details
- Title
- Method for tooltip planning of a non redundant hydraulic robot with joint speed constraints
- Creators
- Jaime Alexander Reino
- Contributors
- Hakan Gürocak (Degree Supervisor)
- Awarding Institution
- Washington State University
- Academic Unit
- Electrical Engineering and Computer Science, School of
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University; [Pullman, Washington] :
- Identifiers
- 99900525068801842
- Language
- English
- Resource Type
- Thesis