Adomian Decomposition Method (ADM) for the Inverse Kinematics Solution of a Selected Class of Serial, Industry-Based Manipulators
- Sun, Qi
- [University Park, Pennsylvania] : Pennsylvania State University, 2017.
- Physical Description:
- 1 electronic document
- Additional Creators:
- Tonningen, Scott Van
- Graduate Program:
- Restrictions on Access:
- Open Access.
- This project proposes an efficient algorithm for finding the solution(s) for the inverse kinematic equations using the Denavit-Hartenberg convention (DH parameters). To find the solutions for the inverse kinematic, two mathematical methods will be demonstrated, Newton-Raphson Method and Adomian Decomposition Method (ADM). The latter will be a new application to 3DOF systems in this selected class, whereas Newton-Raphson will be used for comparison purposes.
- Other Subject(s):
- Dissertation Note:
- M.S. Pennsylvania State University 2017.
- Technical Details:
- The full text of the dissertation is available as an Adobe Acrobat .pdf file ; Adobe Acrobat Reader required to view the file.
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