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A Study in Mathematical Kinematic Model of Hyper Redundant Manipulator and Its Locomotion Simulation Using V-Rep

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The purpose of this thesis work is to study the mathematical kinematic model in a hyper redundant manipulator and its locomotion using simulation. the mathematical kinematic model is a critical part in designing a hyper-redundant manipulator, and simulation is a very interactive way to design a manipulator. the mathematical kinematic model used in this thesis is serpenoid curve which developed from a sinusoidal wave. the mathematical kinematic model will be input to the model in simulation in V-REP. Some parameters will become the main control in the simulation. the hyper-redundant manipulator in the simulation is represented as snake robot. the parameters are the main factor affecting the behavior which will become the study of the mathematical kinematic model of hyper-redundant manipulator. the simulation gives an idealistic properties. However some parameters are set to give a more realistic simulation. This thesis also proposes the further research using the design, model, and behavior that has been obtain in the simulation.

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Availability

B01571

(Rack Thesis)

Available

Detail Information

Series Title

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Call Number

1571

Publisher

: Swiss German University., 2014

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

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Carrier Type

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Edition

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Subject(s)

MT
Simulation
Manipulator
Mathematical kinematic model
Snake robot

Specific Detail Info

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Statement of Responsibility

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