umu.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Kinematic Motion Planning for a 7-AxisRobotic Arm (LWA70 by Schunk)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Redundant manipulators are widely used because they have a greater dexterity andversatility than nonredundant manipulators. In the redundant manipulators, thenumber of degrees of freedom are more than the required to manipulate objects atthe task space, which leads to a possibility to generate infinite number of solutions.For this reasons it has been a hot research topic to exploit the redundancy. Thisthesis work is focus on modeling and controlling redundant robot manipulator withseven degree of freedom (LWA 10 kg payload by Schunk). A literature review hasbeen prepared on the existing methods of exploiting the redundancy in the 7-DOFmanipulators at the velocity and position levels. The forward kinematic equationsare derived using the Denavit-Hartenberg method. The inverse kinematic problem issolved and the redundancy is exploited at the position level to avoid the computationalcomplexity and inaccuracy associated with exploiting the redundancy at the velocitylevel. The joint angles of the manipulator are computed in term of a redundancyparameter defining the self-motion in the manipulator. The relation between the jointangles and the redundancy parameter is exploited to avoid selecting the arm anglesthat violate the joint limits. The singularity configurations and robot workspace arealso studied in this thesis. An example is presented on how the self-motion of thearm appears when the end-effector is stationary. The methods are applied to followstraight line trajectories while preventing the joints to exceed the limits. The resultsfound showed how exploiting the redundancy at the position level is being exact withlow computational cost. The validity of the methods is verified by Robotics Toolboxsimulations.

Place, publisher, year, edition, pages
2016. , 104 p.
Keyword [en]
Robotics, Manipulator, Kinematics, Redundancy, Self-motion, Trajectory
National Category
Control Engineering Robotics
Identifiers
URN: urn:nbn:se:umu:diva-129376OAI: oai:DiVA.org:umu-129376DiVA: diva2:1059655
Subject / course
Elektronik
Educational program
Master's Programme in Robotics and Control
Presentation
2016-11-09, TA208, Department of Applied Physics and Electronics, Umeå, 13:00 (English)
Supervisors
Examiners
Available from: 2017-02-03 Created: 2016-12-22 Last updated: 2017-02-02Bibliographically approved

Open Access in DiVA

fulltext(21668 kB)131 downloads
File information
File name FULLTEXT02.pdfFile size 21668 kBChecksum SHA-512
b7a155c5c7e6153d678e626c2d9f42af70c8c98fe6285ba41e27fe28fe4f590fb4240aa8652e73079958220879a1d1a4224c04971891006add2315a628e4cb19
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Mohammed, Shehab
By organisation
Department of Applied Physics and Electronics
Control EngineeringRobotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 131 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 384 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf