Adomian Decomposition Method (ADM) for the Inverse Kinematics Solution of a Selected Class of Serial, Industry-Based Manipulators

Author:: Sun, Qi
Published:: [University Park, Pennsylvania] : Pennsylvania State University, 2017.
Physical Description:: 1 electronic document
Additional Creators:: Tonningen, Scott Van

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Graduate Program:

Electrical Engineering

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Open Access.

Summary:

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.

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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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