Development of a visualization tool for kinematics and dynamics for hyper redundant robots

Abstract

Swarm robotic is an difficult, but promissing approach in modern robotics. Multirobot organisms can achieve tasks, an individual robot could not accomplish alone. But first you need kinematics and dynamics to model them. Becaus of the huge amount of degrees of freedom, many classical approaches fail. Through its geometrical representation, screw theory could be the solution. There already existed a mathematical framework, but no visualization for it. So in this thesis I created a Graphical User Interface, that supports the creation of different user-defined topologies and visualizes its results. In the end, this GUI should assist developer with their work, but hopefully also students to understand this subject more easily.