KINEMATICS, CONTROLS, AND VISUALIZATION OF ROBOTIC MANIPULATORS

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Primary Ojha_umbc_0434M_12872.pdf (27.89 MB)

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http://hdl.handle.net/11603/35307

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UMBC Theses and Dissertations
UMBC Graduate School
UMBC Mechanical Engineering Department
UMBC Student Collection

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Author/Creator ORCID

Date

2024-01-01

Type of Work

thesis
Text
application:pdf

Department

Mechanical Engineering

Program

Engineering, Mechanical

Citation of Original Publication

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This item may be protected under Title 17 of the U.S. Copyright Law. It is made available by UMBC for non-commercial research and education. For permission to publish or reproduce, please see http://aok.lib.umbc.edu/specoll/repro.php or contact Special Collections at speccoll(at)umbc.edu
Distribution Rights granted to UMBC by the author.

Subjects

cyclic coordinate descent
digital twin
force control
inverse kinematics
motion control
robotic manipulator

Abstract

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.