Dynamics and control of a rigid/flexible manipulator Public Deposited

http://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/9g54xm958

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  • Control of high-speed, light-weight robotic manipulators is a challenge because of their special dynamic characteristics. In this work, a two-stage control algorithm for the position control of flexible manipulators is proposed. First, the more complex, flexible robot system is replaced by a simplified hypothetical rigid body system (HRRA) with off-line trajectory planning. This reduces the complexity of the controller design for the flexible robotic arm. A parameter-optimization approach was adopted to minimize the difference between these two models in this stage. Also, a comparison of computational efficiency is made among the methods of calculus-of-variations, dynamic-programming, and the proposed parameter-optimization. At the second stage, simple linear state feedback controllers, based on the simplified hypothetical rigid body model, are proposed to control the actual robotic system. With the feedback gains selected properly by the pole-placement and linear quadratic methods, the results show satisfactory achievement of the motion objectives. The algorithm is implemented for a two-link rigid/flexible robotic arm, and the results indicate that the procedure is capable of providing effective control with much simpler computational requirements than those of procedures published previously.
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  • File scanned at 300 ppi (Monochrome) using Capture Perfect 3.0 on a Canon DR-9050C in PDF format. CVista PdfCompressor 4.0 was used for pdf compression and textual OCR.
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  • description.provenance : Submitted by Kirsten Clark (kcscannerosu@gmail.com) on 2013-01-25T20:03:40Z No. of bitstreams: 1 YehChunTien1992.pdf: 4199230 bytes, checksum: a19773b91e3b30e680106ccb5e686040 (MD5)
  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-01-25T20:32:51Z (GMT) No. of bitstreams: 1 YehChunTien1992.pdf: 4199230 bytes, checksum: a19773b91e3b30e680106ccb5e686040 (MD5)
  • description.provenance : Made available in DSpace on 2013-03-01T17:25:41Z (GMT). No. of bitstreams: 1 YehChunTien1992.pdf: 4199230 bytes, checksum: a19773b91e3b30e680106ccb5e686040 (MD5) Previous issue date: 1992-04-01
  • description.provenance : Approved for entry into archive by Patricia Black(patricia.black@oregonstate.edu) on 2013-03-01T17:25:41Z (GMT) No. of bitstreams: 1 YehChunTien1992.pdf: 4199230 bytes, checksum: a19773b91e3b30e680106ccb5e686040 (MD5)

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