Thesis (M.S.)--Virginia Polytechnic Institute and State University, 1993. / Vita. Abstract. Includes bibliographical references (leaves 43-45). Also available via the Internet.

Thesis (M.S.)--University of Wisconsin--Madison, 1968. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Thesis (M.S.)--University of Wisconsin--Madison, 1966. / eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Currently, there is much interest in the field of robotics in researching methods of obtaining inverse kinematics solutions for arbitrary manipulators. Simple closed-form inverse kinematics equations can be obtained for a few joint configurations using geometric methods. However, there exist many manipulators which were not originally designed for kinematic control which do not have simple closed-form inverse kinematics equations. An efficient and stable iterative method is investigated in this thesis which solves the general inverse kinematics problem without detailed analysis of the manipulator's structure. The proposed iterative inverse kinematics algorithm combines a calibration procedure to estimate the manipulator's Denavit-Hartenberg parameters with an iterative method using the Jacobian and damped joint corrections. The kinematics control algorithm parameters are selected with a computer graphics simulation of the manipulator. The proposed inverse kinematics algorithm is tested with a simulation of an industrial manipulator arm which does not have a closed-form solution, RSI Robotic Systems International's Kodiak arm, and exhibits stability in all regions of operation and fast convergence over most regions of operation. / Applied Science, Faculty of / Electrical and Computer Engineering, Department of / Graduate

M.Ing. (Mechanical Engineering) / This dissertation presents and explains methods for the dynamic modeling of robot like mechanisms. These mechanisms can have multiple degree of freedom joints and contain closed-chains. A new kinematic notation is proposed. The algorithms, including those used for the inverse and direct dynamics, are all based on spatial notation and a general joint model, providing a quite general, integrated and complete method for solving the dynamics of simple closed-chain mechanisms.

A method to design foot trajectory in Cartesian coordinates for a six-leg walking machine is presented in this thesis. The walking machine is based on the geometry of the darkling beetle. The walking procedure developed by Y.S. Baek is introduced first to provide step length and leg swing time for foot trajectory planning. This procedure also supplies required parameters to describe the relationship between feet and body during locomotion. The trajectory of a single foot consists of the path and its temporal attributes, that is, velocity and acceleration. Several methods and constraints for path and velocity profile design are discussed. Software developed in Microsoft Quick C is used to generate and animate on the screen a single desired foot trajectory applied to each of the six legs by combining paths and velocity profiles. The generated trajectory is converted to joint coordinates to provide necessary data for leg control. Since a single foot trajectory is applied to three pairs of legs of different design, three sets of joint coordinate sequences are produced. Furthermore, each leg consists of three segments and three joints necessitating nine control sequences altogether. Half-ellipse and trochoidal paths are interpolated with 5th and 6th order polynomials to determine minimum required joint acceleration. All paths and their first and second derivatives are required to be smooth. The effect of body pitch are also examined. / Graduation date: 1995

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