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

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dc.contributor.authorSalerno, Robert Jamesen
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2014-08-13T14:40:20Zen
dc.date.available2014-08-13T14:40:20Zen
dc.date.issued1989en
dc.description.abstractVariable 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.en
dc.description.adminincomplete_metadataen
dc.description.degreeMaster of Scienceen
dc.format.extentix, 108 leavesen
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/10919/50089en
dc.publisherVirginia Polytechnic Institute and State Universityen
dc.relation.isformatofOCLC# 20349433en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1989.S354en
dc.subject.lcshTrussesen
dc.subject.lcshManipulators (Mechanism)en
dc.titleShape control of high degree-of-freedom Variable Geometry Truss manipulatorsen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen
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