Graduation Semester and Year
2018
Language
English
Document Type
Thesis
Degree Name
Master of Science in Mechanical Engineering
Department
Mechanical and Aerospace Engineering
First Advisor
Kamesh Subbarao
Abstract
Open chain manipulators are a well posed problem, however it was necessary to build a system customized to meet the needs of the Unmanned Ground Vehicle developed in the Aerospace Systems Laboratory. Considering that there are multiple such small ground vehicles, the main design constraint on the system was to be modular and lightwieght to enable quick swapping from both, a hardware and a software point of view. The purpose of this thesis is design, simulation and control a modular 5-Degree-of-Freedom manipulator with versatility in end effector configuration. This was achieved through the Robot Operating System which brings a high degree of cross platform flexibility with minimal code modification. The manipulator was simulated and tested to execute a cartesian-space trajectory using a singularity robust inverse kinematics algorithm. The experimental setup has a cyber-physical architecture to allow for the necessary intensive computations to be offloaded to a more powerful ground station.
Keywords
ROS, Manipulator, Inverse kinematics, Singularity
Disciplines
Aerospace Engineering | Engineering | Mechanical Engineering
License
This work is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 4.0 International License.
Recommended Citation
Karulkar, Roopak M., "Simulation, Control and Testing of a Custom 5-DOF Robotic Manipulator System" (2018). Mechanical and Aerospace Engineering Theses. 774.
https://mavmatrix.uta.edu/mechaerospace_theses/774
Comments
Degree granted by The University of Texas at Arlington