Robust impedance control of robot manipulators /
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| Other Authors: | , |
| Format: | Thesis Book |
| Language: | English |
| Published: |
1990.
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| Subjects: | |
| Online Access: | Link to OAKTrust copy |
| Abstract: | The objective of this research was to design a controller for robot manipulators that could achieve a desired target impedance robustly and could follow the desired trajectory, even when disturbances and parameter uncertainties exist. Typical assumptions such as the so-called 'matching condition,' full state feedback, and information about interacting forces at the end-effector are necessary to robustly linearize the nonlinear dynamics of a robot manipulator to a desired linear dynamics (target impedance). After linearization, a simple linear controller can be applied in an outer loop to carry out fine maneuvers. This dissertation demonstrates the robustness of this control scheme. Provided the input to the linearization, interacting force, disturbances and parameter uncertainties are bounded, and the outer control loop can be designed to make the total system stable, then the linearization will be robust. To linearize a nonlinear system with parameter uncertainties and disturbance to a desired linear system robustly, input/output (I/O) linearization and sliding mode control (SMC) are combined into a technique which has been named "robust sliding linearization" (RSL) and the impedance control which uses RSL to achieve target impedance is named "robust impedance control" (RIC). To avoid saturation of the actuators, the desired trajectory can be modified by monitoring the input torque to the actuators. In this manner, the stability of the total system is guaranteed while the saturation of actuators is taken into account. The fact that a nonlinear system can behave like a linear mass-spring-damper system in specified directions is a promising technique to be applied to manufacturing processes, in particular, light machining operations such as deburring. Simulation of a robot manipulator with disturbances at the end effector will show a variety of features of RSL. A deburring simulation with an irregular surface will show the applicability of RIC. |
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| Item Description: | Typescript (photocopy). Vita. "Major subject: Mechanical Engineering." |
| Physical Description: | x, 106 leaves : illustrations ; 29 cm |
| Bibliography: | Includes bibliographical references. |