Design and construction of 9-DOF hyper-redundant robotic arm


Xingsheng Xu

Date of Award


Degree Name

M.S. in Electrical Engineering


Department of Electrical and Computer Engineering


Advisor: Raúl Ordóñez


Hyper-redundant robotics is a branch of advanced robotic technology recognized as a method to improve manipulator performance in complex and unstructured environments. Research in both kinematic and dynamic control of hyper-redundant manipulator plays an import role in high-tech field like modern industry, military and space applications. The kinematic redundancy considered in this thesis means the total degrees of freedom (DOF) of robot is more than the degrees of freedom required for the task to be executed. The redundancy provides infinite solutions to achieve the same position and orientation of the end-effector. Therefore, the efficacy of kinematic algorithm affects the accuracy and stability of both motion control and path tracking. In this thesis, we mainly focus on constructing an application robotic platform based on kinematic modeling of a 9-DOF hyper-redundant manipulator. We firstly take a brief introduction of the background, related work, significance and objective of this thesis. Then the kinematic model of 9-DOF manipulator is established along with its home position configuration. The next work is divided into two parts: first is the construction of hardware platform, and the second one is to design an application software with user interface (UI). In addition, the result of proposed thesis design is demonstrated in a number of experiments. In the end, conclusion and future work are presented.


Manipulators (Mechanism) Design and construction, Robots Kinematics, Redundancy (Engineering), Electrical Engineering; Robot; 9-DOF; hyper-redundant; forward kinematics

Rights Statement

Copyright 2013, author