The Inverse Jacobian Control Method Applied to a Four Degree of Freedom Confined Space Robot

Thesis (Master's)--University of Washington, 2016-06

Robotics and automation of aerospace manufacturing and assembly in confined spaces such as a wing is challenging due to limited tooling access and geometric constraints set by the environment. The emphasis of this thesis is on the control of such robots using the Inverse Jacobian method. The approach is implemented on an experimental four degree of freedom serial linked confined space robot prototype. Simulation and experimental results are used to evaluate the Inverse Jacobian control. Results show that the approach achieves tracking of the prototype robot with errors on the order of .01 inches. This thesis concludes with lessons learned and suggestions for further improvements.