Author Type

Graduate Student

Date of Award

1985

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Roth, Zvi S.

Abstract

The concept of "generalized manipulator" is introduced, and the closed form and recursive form dynamical models of the generalized manipulator are presented in Newton-Euler formulation. The physical meaning of each term in the dynamical model is explained. The dynamical models formulated by the Newton-Euler method and the Lagrangian-Euler method are proved equivalent. The dynamical model of the generalized manipulator is reduced to ordinary manipulators. The reduced dynamical model is shown identical to existing models. Furthermore, the reduced dynamical model of the generalized manipulator can be used to compute forces and torques components along any direction. Application of the model to problems of mobile robots and flexible manipulators is shown.

Extent

184 p.

Comments

College of Engineering and Computer Science|Thesis (M.S.)--Florida Atlantic University, 1985.|FAU Electronic Theses and Dissertations Collection|College of Engineering and Computer Science

Identifier

FADT14243

Format

pdf

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