Rafi Syed

Publication Date


Document Type


First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering


Maple (Computer file); MATLAB; Manipulators (Mechanism)--Mathematical models; Robots--Kinematics; Robots--Dynamics


Kinematics and dynamics of a manipulator are two important problems in modeling and automation. Kinematic modeling of a manipulator is defined as the transformation from a joint coordinate system to a Cartesian coordinate system (forward kinematics) and vice versa (inverse kinematics) independent of any force causing the motion, and dynamic modeling of a manipulator defines the relation between the force and motion. To be able to control a robotic arm as required by its operation, it is important to consider the kinematic and dynamic modeling in the design of the control algorithm and the simulation of the motion. There are different approaches in modeling them. In this thesis kinematic modeling of an n-link serial manipulator is designed in Maple using Denavit-Hartenberg (DH) parameters. In this thesis we also derive dynamic modeling for an n-link manipulator in Maple and it is designed using Newton-Euler formulation. This thesis derives an automated framework for applying the kinematic and dynamic methods on any serial manipulator with revolute joints. The automated framework is applied on an industrial manipulator SCORBOT-ER-4u. Maple and MATLAB software are used to solve this mathematical model.


Advisors: Peng Yung Woo.||Committee members: Martin Kocanda; Donald S. Zinger.||Includes bibliographical references.||Includes illustrations.


v, 236 pages




Northern Illinois University

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