Modeling and robust control of a compliant robotic manipulator via the finite element method.
| Main Author: | |
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| Other Authors: | , , , |
| Format: | Thesis Book |
| Language: | English |
| Published: |
1983.
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| Subjects: | |
| Online Access: | Link to ProQuest Copy |
| Abstract: | Robotic manipulators are often used in a production environment to help increase productivity, and product quality. It is therefore desirable to operate the manipulator accurately and at high speed. Unfortunately, structural compliance (when ignored in the control system) limits the speed at which the manipulator can be driven. It has been shown elsewhere, that this speed limitation is removed when the compliance is accommodated in the control design. It has also been shown, however, that these compliant manipulator control systems (when based upon pole placement algorithms) are sensitive to slight variations in payload and manipulator configuration. The sensitivity is so severe that, even under idealized assumptions, the system often loses stability. This research attacks the problem of designing an insensitive control system for a compliant manipulator. The servo control utilized is a simple extension of the well known Linear Quadratic Regulator which is known to possess excellent sensitivity properties. The result is a constant gain state feedback control law which maintains system stability through large payload or configuration changes. A modeling algorithm for obtaining the dynamic response of open loop, compliant, revolute joint chains is also presented. The algorithm is based upon the well known finite element method, and is unique because it does not decouple the elastic and rigid body motions. The formulation uses linear elastic, constant property, subparametric beam elements. |
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| Item Description: | Typescript (photocopy). Vita. "Major subject: Mechanical Engineering." |
| Physical Description: | xiv, 184 leaves : illustrations ; 29 cm |
| Bibliography: | Includes bibliographical references (leaves 146-149). |