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Design and Construction of 9-DOF Hyper-Redundant Robotic Arm

Xu, Xingsheng
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629

Abstract Details

2013, Master of Science (M.S.), University of Dayton, Electrical Engineering.
Hyper-redundant robotics is a branch of advanced robotic technology recognized as a method to improve manipulator performance in complex and unstructured environments. Research in both kinematic and dynamic control of hyper-redundant manipulator plays an import role in high-tech field like modern industry, military and space applications. The kinematic redundancy considered in this thesis means the total degrees of freedom (DOF) of robot is more than the degrees of freedom required for the task to be executed. The redundancy provides in finite solutions to achieve the same position and orientation of the end-eff ector. Therefore, the efficacy of kinematic algorithm a ffects the accuracy and stability of both motion control and path tracking. In this thesis, we mainly focus on constructing an application robotic platform based on kinematic modeling of a 9-DOF hyper-redundant manipulator. We fi rstly take a brief introduction of the background, related work, signifi cance and objective of this thesis. Then the kinematic model of 9-DOF manipulator is established along with its home position con figuration. The next work is divided into two parts: first is the construction of hardware platform, and the second one is to design an application software with user interface (UI). In addition, the result of proposed thesis design is demonstrated in a number of experiments. In the end, conclusion and future work are presented.
Raul Ordonez (Committee Chair)
Vijayan Asari (Committee Member)
Malcolm Daniels (Committee Member)
87 p.
Electrical Engineering
Robot; 9-DOF; Hyper-Redundant; Forward Kinematics

Recommended Citations

Citations

  • Xu, X. (2013). Design and Construction of 9-DOF Hyper-Redundant Robotic Arm [Master's thesis, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629

    APA Style (7th edition)

  • Xu, Xingsheng. Design and Construction of 9-DOF Hyper-Redundant Robotic Arm. 2013. University of Dayton, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629.

    MLA Style (8th edition)

  • Xu, Xingsheng. "Design and Construction of 9-DOF Hyper-Redundant Robotic Arm." Master's thesis, University of Dayton, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Dayton and OhioLINK.