Presenter(s)

    Xingsheng Xu

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    Description

    An application robotic platform has been constructed based on the kinematic model of a 9-DOF hyper-redundant manipulator. The efficacy of our kinematic algorithm affects the accuracy and stability of both motion control and path tracking. An objective of this work is to achieve multi-input multi output (MIMO) control, where the inputs are the torques at each joint, and they are used to control joint dynamic variables such as position, orientation, velocity and acceleration in a hyper-redundant robotic system. This control approach can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a path. The result of tracking different paths and the error analysis both in joint space and work space show that the MIMO control algorithm works functionally and satisfies all the requirements of experimental design.

    Publication Date

    4-9-2015

    Project Designation

    Graduate Research

    Primary Advisor

    Raul E. Ordonez

    Primary Advisor's Department

    Electrical and Computer Engineering

    Keywords

    Stander Symposium project

    Disciplines

    Arts and Humanities | Business | Education | Engineering | Life Sciences | Medicine and Health Sciences | Physical Sciences and Mathematics | Social and Behavioral Sciences

    Design and MIMO control of A Hyper-Redundant Robotic Arm

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