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dc.contributor.advisorWoo, Peng-Yungen_US
dc.contributor.authorSyed, Rafien_US
dc.date.accessioned2019-11-26T20:24:24Z
dc.date.available2019-11-26T20:24:24Z
dc.date.issued2016
dc.identifier.urihttps://commons.lib.niu.edu/handle/10843/21195
dc.descriptionAdvisors: Peng Yung Woo.en_US
dc.descriptionCommittee members: Martin Kocanda; Donald S. Zinger.en_US
dc.descriptionIncludes bibliographical references.en_US
dc.descriptionIncludes illustrations.en_US
dc.description.abstractKinematics and dynamics of a manipulator are two important problems in modeling and automation. Kinematic modeling of a manipulator is defined as the transformation from a joint coordinate system to a Cartesian coordinate system (forward kinematics) and vice versa (inverse kinematics) independent of any force causing the motion, and dynamic modeling of a manipulator defines the relation between the force and motion. To be able to control a robotic arm as required by its operation, it is important to consider the kinematic and dynamic modeling in the design of the control algorithm and the simulation of the motion. There are different approaches in modeling them. In this thesis kinematic modeling of an n-link serial manipulator is designed in Maple using Denavit-Hartenberg (DH) parameters. In this thesis we also derive dynamic modeling for an n-link manipulator in Maple and it is designed using Newton-Euler formulation. This thesis derives an automated framework for applying the kinematic and dynamic methods on any serial manipulator with revolute joints. The automated framework is applied on an industrial manipulator SCORBOT-ER-4u. Maple and MATLAB software are used to solve this mathematical model.en_US
dc.format.extentv, 236 pagesen_US
dc.language.isoengen_US
dc.publisherNorthern Illinois Universityen_US
dc.rightsNIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.en_US
dc.subject.lcshMaple (Computer file)en_US
dc.subject.lcshMATLAB|Manipulators (Mechanism)--Mathematical modelsen_US
dc.subject.lcshRobots--Kinematicsen_US
dc.subject.lcshRobots--Dynamicsen_US
dc.titleKinematics and dynamics of a robotic manipulator in Mapleen_US
dc.type.genreDissertation/Thesisen_US
dc.typeTexten_US
dc.contributor.departmentDepartment of Electrical Engineeringen_US
dc.description.degreeM.S. (Master of Science)en_US


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