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Adomian Decomposition Method (ADM) for the Inverse Kinematics Solution of a Selected Class of Serial, Industry-Based Manipulators
Restricted (Penn State Only)
Master of Science
Date of Defense:
May 04, 2017
Scott Van Tonningen, Thesis Advisor
Javad Khazaei, Committee Member
Ma'Moun Abdel Abu-Ayyad, Committee Member
Amit Banerjee, Committee Member
Adomian Decomposition Method
This project proposes an efficient algorithm for finding the solution(s) for the inverse kinematic equations using the Denavit-Hartenberg convention (DH parameters). To find the solutions for the inverse kinematic, two mathematical methods will be demonstrated, Newton-Raphson Method and Adomian Decomposition Method (ADM). The latter will be a new application to 3DOF systems in this selected class, whereas Newton-Raphson will be used for comparison purposes.
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