02 Abstract
1
ABSTRACT i Final Year Project MCT 4198/4299 2008/2009 ABSTRACT Hyper-redundant robot possesses multiple solutions for each attainable position in its working space. Extensive researches are being performed to optimize control of hyper-redundant robotic manipulator due to the need for its application. This report will describe the meaning, analyzing, developing and fabricating process of the 4-links hyper-redundant robotic manipulator. The main purpose of this study is to develop a successful position control of the high degree of freedom (DOF) robot manipulator. The research involves the analyses of the kinematics as well as kinetics of the manipulator system in order to successfully control the position of the end effector. It also describes how both of these analyses integrate together to achieve the specified control objective through the simulation and experimental studies.
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Transcript of 02 Abstract
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ABSTRACT i
Final Year Project MCT 4198/4299 2008/2009
ABSTRACT
Hyper-redundant robot possesses multiple solutions for each attainable position in its working
space. Extensive researches are being performed to optimize control of hyper-redundant robotic
manipulator due to the need for its application. This report will describe the meaning, analyzing,
developing and fabricating process of the 4-links hyper-redundant robotic manipulator. The main
purpose of this study is to develop a successful position control of the high degree of freedom
(DOF) robot manipulator. The research involves the analyses of the kinematics as well as
kinetics of the manipulator system in order to successfully control the position of the end
effector. It also describes how both of these analyses integrate together to achieve the specified
control objective through the simulation and experimental studies.
