Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments
The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization of geometric parameters and the optimal control to avoid singularities when navigating across singular geometric configurations. The anal...
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| Language: | en |
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Université d'Ottawa / University of Ottawa
2014
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| Online Access: | http://hdl.handle.net/10393/30486 http://dx.doi.org/10.20381/ruor-3509 |
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