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Full-Text Articles in Mechanical Engineering
Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
USF Tampa Graduate Theses and Dissertations
A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
USF Tampa Graduate Theses and Dissertations
A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …