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Title:Digital position and velocity controller for the Rhino XR-3 Robot
Author(s):Carias, Liliana Grajales
Advisor(s):Spong, Mark W.
Department / Program:Electrical & Computer Engineering
Discipline:Electrical & Computer Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Electrical engineering
Rhino XR-3
Abstract:The objective of this thesis is to improve the quality of the End Effector motion of a five-link, five-joint Rhino XR-3 Robot. This research topic was motivated after observing the performance of the educational Rhino XR-3 Robot in several laboratory projects, and noticing the "jerky" nature and inaccuracy of the End Effector movement. Therefore, there was a need to redesign the exist?ng position controller and integrate a velocity controller to he Rhino XR-3 control system. The directions of this research are, therefore, aimed at both the theory a.nd design of a microprocessor controlled system.
Issue Date:1988
Rights Information:Copyright 1988 held by Liliana Grajales Carias
Date Available in IDEALS:2017-09-29

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