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simplified Jacobian representation for robot manipulators

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Date Issued:
1988
Summary:
Central to many manipulator positional control schemes is a requirement to invert the forward kinematic equations which model the given manipulator. It is shown in this thesis that for manipulator types where a common wrist center exists, a simplified Jacobian form is feasible and its inversion can be used in place of inverse kinematic solutions for positional control. The Jacobian simplification is obtained by decoupling of the wrist member from the positional member, resulting in a Jacobian inversion involving the solution of two sets of three equations with three unknowns. Within the development of the alternate Jacobian form, a technique for substituting incremental rotations with incremental translations is introduced yielding better insight into the Jacobian structure. A requirement for small moves is validated with a discussion of a proposed positional control strategy and a comprehensive example is presented as a summary of the results.
Title: A simplified Jacobian representation for robot manipulators.
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Name(s): Alewine, Neal Jon.
Florida Atlantic University, Degree grantor
Roth, Zvi S., Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1988
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 117 p.
Language(s): English
Summary: Central to many manipulator positional control schemes is a requirement to invert the forward kinematic equations which model the given manipulator. It is shown in this thesis that for manipulator types where a common wrist center exists, a simplified Jacobian form is feasible and its inversion can be used in place of inverse kinematic solutions for positional control. The Jacobian simplification is obtained by decoupling of the wrist member from the positional member, resulting in a Jacobian inversion involving the solution of two sets of three equations with three unknowns. Within the development of the alternate Jacobian form, a technique for substituting incremental rotations with incremental translations is introduced yielding better insight into the Jacobian structure. A requirement for small moves is validated with a discussion of a proposed positional control strategy and a comprehensive example is presented as a summary of the results.
Identifier: 14477 (digitool), FADT14477 (IID), fau:11275 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1988.
Subject(s): Robots
Manipulators (Mechanism)
Matrices
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14477
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.