Shape control of high degree-of-freedom Variable Geometry Truss manipulators

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.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mechanical Engineering

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Virginia Polytechnic Institute and State University

Year dc:date.issued

1989

Author dc:creator

• Salerno, Robert James

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Handle dc:identifier.uri

http://hdl.handle.net/10919/50089

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/50089