Becker, Aaron T.2019-05-23August 2012018-08August 201https://hdl.handle.net/10657/4023This project presents three different robotic manipulators, and then compares their control systems. The first system is a cryogenically-cooled manipulation system. In this system, the robotic system implements 3-dimensional control on the robots position and orientation. To obtain accurate control without a solid iron core, this system has all of its coils cooled with liquid nitrogen to drive more current into the coils without damaging them. The second system is created to test an algorithm for navigation in a cavity using global inputs, while taking advantage of the cavity's geometry and frictional wall contacts. The last system is a robotic manipulator created out of a toy robotic arm kit. The aim here was to increase the robots accuracy and augment its functionality, while making it user friendly to students new to robotics.application/pdfengThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).Manipulators2019-05-23Thesisborn digital