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  1. جبران سازی تطبیقی اثر عملگرهای با دینامیک کند در ربات ها بدون اندازه گیری گشتاور خروجی
جبران سازی تطبیقی اثر عملگرهای با دینامیک کند در ربات ها بدون اندازه گیری گشتاور خروجی
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جبران سازی تطبیقی اثر عملگرهای با دینامیک کند در ربات ها بدون اندازه گیری گشتاور خروجی

کاظمی، هادی Kazemi, Hadi

Adaptive Compensation of Effect of Slow Dynamic Actuators in Robots Without Output Torque Measurement

Kazemi, Hadi | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 43052 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. A motion tracking control design of an n-DOF rigid robot by taking into account its actuator dynamics is proposed in this paper using backstepping technique. neglecting actuator dynamics in control of rigid robot manipulators can degrade the performance and loss of stability. However,consideration of actuator dynamics entails joint torque or armature currents measurement. In this study, torque measurement has been avoided using an torque estimator.. Finally, Semi-global convergence for motion tracking error are proven. In addition, A simulation example of a two-link robotic manipulator is also given to clarify the effectiveness of proposed design method. Considering actuator dynamics entails joint torque or armature currents measurement. However some points should be considered to use torque sensor. torque sensors outputs are usually mixed with noise which necessitates frequent calibration as they age.Moreover, they are sensitive to environment factor. In fact, these are the convincer reasons to estimate torque and its measurement should not be used in control law. In this paper, we develop a control law for motion tracking of rigid n-DOF manipulators including actuator dynamics and obtain semi-global asymptotic convergence of motion tracking. We use an observer to estimate the joint torque instead of its measurement. In the literature, researchers usually use Minimal dynamics equation of n-DOF manipulators in controller design. But in this paper, we use Non-minimal dynamics equation, because find a regressor for non-minimal dynamics is more simpler and have a simple structure
  9. Keywords:
  10. Robot ; Adaptive Control ; Actuator Dynamics ; Torque Estimation

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