Shape control of high degree-of-freedom Variable Geometry Truss manipulators

Variable Geometry Trusses (VGT’s) can be used as the fundamental building blocks in constructing long-chain, high degree-of-freedom manipulators. This thesis focuses on the kinematics of two such manipulators. It also illustrates how the concept of shape control can be applied to simplify the computational aspects of controlling these devices. To serve as examples, algorithms are developed for the control of both a thirty degreeof-freedom planar ma.nipu1ator and a sixty degree-of-freedom spatial manipulator. Based on a review of the literature, this work appears to be * the first attempt to develop real-time, position control strategies for such highly-dexterous manipulators. 4

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