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Kinematics, Controls, and Visualizat...

Ojha, Sagar.

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Kinematics, Controls, and Visualization of Robotic Manipulators.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Kinematics, Controls, and Visualization of Robotic Manipulators./
Author:	Ojha, Sagar.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2024,
Description:	91 p.
Notes:	Source: Masters Abstracts International, Volume: 85-12.
Contained By:	Masters Abstracts International85-12.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31241710
ISBN:	9798383162477

Kinematics, Controls, and Visualization of Robotic Manipulators.
Ojha, Sagar.

Kinematics, Controls, and Visualization of Robotic Manipulators. - Ann Arbor : ProQuest Dissertations & Theses, 2024 - 91 p.

Source: Masters Abstracts International, Volume: 85-12.

Thesis (M.S.)--University of Maryland, Baltimore County, 2024.

This thesis presents kinematics analysis, 3D visualization tool, and motion-force controller for a six degree-of-freedom serial robotic manipulator. Denavit-Hartenberg (DH) convention and Cyclic Coordinate Descent (CCD) are chosen to be the frameworks of forward and inverse kinematics, respectively. The limitation of the existing CCD is identified, wherein the robot can be locked at the singular conditions, and consequently fails to reach the target. After analyzing and categorizing the singularity conditions, an unlock mechanism is developed on top of the conventional CCD to avoid singularity. The dynamics of the manipulator is analyzed using Lagrangian method to implement a motion-force controller. The objectives of a motion-force controller in an environment with obstacles are analyzed to develop a unified control algorithm for trajectory tracking and force control in the same direction. Numerical simulations, and digital twin visualization developed in VxSIM verify that the singularity-free CCD and the controller design are valid.

ISBN: 9798383162477Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Cyclic coordinate descent

Kinematics, Controls, and Visualization of Robotic Manipulators.
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020 $a 9798383162477
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100 1 $a Ojha, Sagar. $3 3771571
245 1 0 $a Kinematics, Controls, and Visualization of Robotic Manipulators.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 91 p.
500 $a Source: Masters Abstracts International, Volume: 85-12.
500 $a Advisor: Wu, Tse-Huai;Topoleski, L. D. Timmie.
502 $a Thesis (M.S.)--University of Maryland, Baltimore County, 2024.
520 $a This thesis presents kinematics analysis, 3D visualization tool, and motion-force controller for a six degree-of-freedom serial robotic manipulator. Denavit-Hartenberg (DH) convention and Cyclic Coordinate Descent (CCD) are chosen to be the frameworks of forward and inverse kinematics, respectively. The limitation of the existing CCD is identified, wherein the robot can be locked at the singular conditions, and consequently fails to reach the target. After analyzing and categorizing the singularity conditions, an unlock mechanism is developed on top of the conventional CCD to avoid singularity. The dynamics of the manipulator is analyzed using Lagrangian method to implement a motion-force controller. The objectives of a motion-force controller in an environment with obstacles are analyzed to develop a unified control algorithm for trajectory tracking and force control in the same direction. Numerical simulations, and digital twin visualization developed in VxSIM verify that the singularity-free CCD and the controller design are valid.
590 $a School code: 0434.
650 4 $a Robotics. $3 519753
650 4 $a Mechanics. $3 525881
650 4 $a Mechanical engineering. $3 649730
653 $a Cyclic coordinate descent
653 $a Digital twin
653 $a Force control
653 $a Inverse kinematics
653 $a Motion control
653 $a Robotic manipulator
690 $a 0771
690 $a 0346
690 $a 0548
710 2 $a University of Maryland, Baltimore County. $b Engineering, Mechanical. $3 1035708
773 0 $t Masters Abstracts International $g 85-12.
790 $a 0434
791 $a M.S.
792 $a 2024
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31241710