KINEMATICS, CONTROLS, AND VISUALIZATION OF ROBOTIC MANIPULATORS
| dc.contributor.advisor | Wu, Tse-Huai | |
| dc.contributor.author | Ojha, Sagar | |
| dc.contributor.department | Mechanical Engineering | |
| dc.contributor.program | Engineering, Mechanical | |
| dc.date.accessioned | 2024-08-09T17:12:09Z | |
| dc.date.available | 2024-08-09T17:12:09Z | |
| dc.date.issued | 2024-01-01 | |
| dc.description.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. | |
| dc.format | application:pdf | |
| dc.genre | thesis | |
| dc.identifier | doi:10.13016/m2xs9t-dnxi | |
| dc.identifier.other | 12872 | |
| dc.identifier.uri | http://hdl.handle.net/11603/35307 | |
| dc.language | en | |
| dc.relation.isAvailableAt | The University of Maryland, Baltimore County (UMBC) | |
| dc.relation.ispartof | UMBC Mechanical Engineering Department Collection | |
| dc.relation.ispartof | UMBC Theses and Dissertations Collection | |
| dc.relation.ispartof | UMBC Graduate School Collection | |
| dc.relation.ispartof | UMBC Student Collection | |
| dc.rights | 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 | |
| dc.source | Original File Name: Ojha_umbc_0434M_12872.pdf | |
| dc.subject | cyclic coordinate descent | |
| dc.subject | digital twin | |
| dc.subject | force control | |
| dc.subject | inverse kinematics | |
| dc.subject | motion control | |
| dc.subject | robotic manipulator | |
| dc.title | KINEMATICS, CONTROLS, AND VISUALIZATION OF ROBOTIC MANIPULATORS | |
| dc.type | Text | |
| dcterms.accessRights | Distribution Rights granted to UMBC by the author. |