Modeling and control of a robot manipulator

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dc.contributor.advisorBraae, Martinen_ZA
dc.contributor.authorMakondo, Ndivhuwoen_ZA
dc.date.accessioned2015-01-09T08:51:29Z
dc.date.available2015-01-09T08:51:29Z
dc.date.issued2013en_ZA
dc.descriptionIncludes bibliographical references.en_ZA
dc.description.abstractThis thesis presents work completed on the design of the modelling and path planning components for a robot manipulator mounted on a mobile platform. This platform is for use in the mining safety inspections of the mine roof, i.e., the hanging wall. Currently this process is done by mine workers and it places them at risk of falling of unstable rocks from the roof. A geometric based inverse kinematics algorithm for a 5 DOF redundant manipulator is proposed and implemented on a Packbot510i used as a test platform. Three versions of the Rapidly-exploring Random Trees planning algorithm namely, basic RRT, RRT Ball and RRT_ are compared. Results obtained show that RRT_ is more suitable than RRT and RRT Ball in terms of the length and the consistency of the trajectories produced. A Force Angle stability measure is used to guide the robot arm into trajectories that prevent the robotic system from tipping over. Results show that the Force Angle stable measure is more cautious, i.e., it classifies trajectories close to the instability of the system as unstable. Simulation results provided show that this system is capable of carrying out the safety inspections of the roof in the mining environment. Experimental results show that a few modifications are required for the system to be used practically on the test platform due to issues experienced with the hardware.en_ZA
dc.identifier.apacitationMakondo, N. (2013). <i>Modeling and control of a robot manipulator</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/11817en_ZA
dc.identifier.chicagocitationMakondo, Ndivhuwo. <i>"Modeling and control of a robot manipulator."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2013. http://hdl.handle.net/11427/11817en_ZA
dc.identifier.citationMakondo, N. 2013. Modeling and control of a robot manipulator. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Makondo, Ndivhuwo AB - This thesis presents work completed on the design of the modelling and path planning components for a robot manipulator mounted on a mobile platform. This platform is for use in the mining safety inspections of the mine roof, i.e., the hanging wall. Currently this process is done by mine workers and it places them at risk of falling of unstable rocks from the roof. A geometric based inverse kinematics algorithm for a 5 DOF redundant manipulator is proposed and implemented on a Packbot510i used as a test platform. Three versions of the Rapidly-exploring Random Trees planning algorithm namely, basic RRT, RRT Ball and RRT_ are compared. Results obtained show that RRT_ is more suitable than RRT and RRT Ball in terms of the length and the consistency of the trajectories produced. A Force Angle stability measure is used to guide the robot arm into trajectories that prevent the robotic system from tipping over. Results show that the Force Angle stable measure is more cautious, i.e., it classifies trajectories close to the instability of the system as unstable. Simulation results provided show that this system is capable of carrying out the safety inspections of the roof in the mining environment. Experimental results show that a few modifications are required for the system to be used practically on the test platform due to issues experienced with the hardware. DA - 2013 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2013 T1 - Modeling and control of a robot manipulator TI - Modeling and control of a robot manipulator UR - http://hdl.handle.net/11427/11817 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/11817
dc.identifier.vancouvercitationMakondo N. Modeling and control of a robot manipulator. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2013 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/11817en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Electrical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherEngineeringen_ZA
dc.titleModeling and control of a robot manipulatoren_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMScen_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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