This thesis reports work not only on the numerics behind, but also the implementation of real-time redundancy-resolution schemes on a real robot. Furthermore, the robot that was chosen as the experimental platform is, isotropic. Redundant robots have more degrees of freedom than needed to perform a class of tasks. A new performance index is proposed in the thesis, that is quadratic in the joint variables and its weighting function has units of frequency. It is shown how this performance index can produce cyclic trajectories in a simple manner, thereby eliminating the undesired drift of the joint angles upon tracking a closed Cartesian trajectory. / Isotropic robots can be postured in such a way that the condition number of their Jacobian matrices can attain a minimum value of unity. It is shown in the thesis that this feature is closely related to the performance of the robot. It appears that trajectories that are close to the set of isotropic postures are performed with smaller errors than trajectories lying far from that set. / The experiments reported here were conducted on the McGill-IRIS C3 Arm, an isotropic, four-revolute redundant manipulator, used to position the operation point of its end link. (Abstract shortened by UMI.)
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.20197 |
| Date | January 1998 |
| Creators | Arenson, Noga. |
| Contributors | Angeles, J. (advisor) |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Mechanical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001608285, proquestno: MQ43994, Theses scanned by UMI/ProQuest. |
Page generated in 0.0017 seconds