Author Type

Graduate Student

Date of Award

1988

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Roth, Zvi S.

Abstract

Central to many manipulator positional control schemes is a requirement to invert the forward kinematic equations which model the given manipulator. It is shown in this thesis that for manipulator types where a common wrist center exists, a simplified Jacobian form is feasible and its inversion can be used in place of inverse kinematic solutions for positional control. The Jacobian simplification is obtained by decoupling of the wrist member from the positional member, resulting in a Jacobian inversion involving the solution of two sets of three equations with three unknowns. Within the development of the alternate Jacobian form, a technique for substituting incremental rotations with incremental translations is introduced yielding better insight into the Jacobian structure. A requirement for small moves is validated with a discussion of a proposed positional control strategy and a comprehensive example is presented as a summary of the results.

Extent

117 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 1988.|College of Engineering and Computer Science

Identifier

FADT14477

Format

pdf

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