{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/50089"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/50089","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Shape control of high degree-of-freedom Variable Geometry Truss manipulators","abstract":"Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degree of freedom planar manipulator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators.","abstract_html":"Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degree of freedom planar manipulator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators.","abstract_has_math":false,"creators":["Salerno, Robert James"],"institution":"Virginia Polytechnic Institute and State University","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":[],"committee_members":[],"year":1989,"date_issued":"1989","date_published":"1989","updated_at":"2026-07-22T22:18:50Z","subjects":[],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10919/50089","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Salerno, Robert James"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-08-13T14:40:20Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-08-13T14:40:20Z"]},{"key":"dc:date.issued","label":"Date","values":["1989"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Polytechnic Institute and State University"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"dc:type.dcmitype","label":"Dc Type Dcmitype","values":["Text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/50089"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degree of freedom planar manipulator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Shape control of high degree-of-freedom Variable Geometry Truss manipulators"]}]}],"canonical_facts":{"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Salerno, Robert James"],"dc:date.accessioned":["2014-08-13T14:40:20Z"],"dc:date.available":["2014-08-13T14:40:20Z"],"dc:date.issued":["1989"],"dc:description.abstract":["Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degree of freedom planar manipulator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators."],"dc:description.degree":["Master of Science"],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["http://hdl.handle.net/10919/50089"],"dc:publisher":["Virginia Polytechnic Institute and State University"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:title":["Shape control of high degree-of-freedom Variable Geometry Truss manipulators"],"dc:type":["Thesis"],"dc:type.dcmitype":["Text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:18:50Z"}