Adomian Decomposition Method (ADM) for the Inverse Kinematics Solution of a Selected Class of Serial, Industry-Based Manipulators

Restricted (Penn State Only)
Sun, Qi
Graduate Program:
Electrical Engineering
Master of Science
Document Type:
Master Thesis
Date of Defense:
May 04, 2017
Committee Members:
  • Scott Van Tonningen, Thesis Advisor
  • Javad Khazaei, Committee Member
  • Ma'Moun Abdel Abu-Ayyad, Committee Member
  • Amit Banerjee, Committee Member
  • Adomian Decomposition Method
  • Newton-Raphson 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.