Document Type
Thesis
Date of Award
9-30-1985
Degree Name
Master of Science in Electrical Engineering - (M.S.)
Department
Electrical Engineering
First Advisor
Marshall Chuan Yung Kuo
Abstract
This paper on Robot Manipulators brings together theories from three fields : computer graphics, kinematic equations and microprocessor based control.
There are four chapters in this paper, chapter one is the conceptual development on homogeneous transformations, express the position and orientation of the transposition of an object in Cartisian coordinates. Chapter two develops the method of obtaining the Cartisian coordinate position and orientation of the end effector for a manipulator, give the joint coordinate as input and use the homogeneous transformation to express the position and orientation. Chapter 3 is a very difficult one; it solves the parameters for the joint. In chapter four, it introduces the concept of a modern microprocessor based position control and applies it in the joint driving of robot manipulator.
The programming language is another important part of robot manipulator. Because of the limit of the knowledge of logic oriented language, although people believe that's the best language for robot manipulator programming. However, it is not included in this paper.
Recommended Citation
Wu, Theresa, "Robot manipulators and control" (1985). Theses. 3490.
https://digitalcommons.njit.edu/theses/3490
