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Modeling, Identification and Velocity Estimation of Planar Hybrid Microrobot

Nojoumian, Mohammad Ali | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 44569 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholam Reza
  7. Abstract:
  8. Microrobots are the robots which manufactured or operated in micro dimentions. High accuracy, compatibility with harsh situations and caring or assembling in micro dimensions are the most important advantages of these robots. Manufacturing new microrobots with higher speed or increasing the velocity of existed microrobots is the discussion of these days.An A-shape microrobot designed and manufacturared before. The goal of this thesis is to model, identify the friction and observe the velocity of the A-shape microrobot. In low speeds both legs of microrobots are on the ground; it walks with the stick-slip motion principle. Increasing the velocity of the microrobot causes separation of one or both legs of the microrobot, so dynamical system of microrobot change to a hybrid dynamic with four stages. In this thesis at first the hybrid model of the microrobot has derived. After that an optimal linear observer (Kalman-Bucy Filter) has been used for hybrid dynamics of the microrobot.Then a robust optimal hybrid observer derived by the LMI approach. Result from the Kalman-Bucy Filter and the LMI observer has been compared to eachother. At last a test bed has been designed and made for computing the LuGre friction coefficients
  9. Keywords:
  10. Micro Robot ; Hybrid System ; Robust Hybrid Observer ; Kalman Bucy Filter ; Linear Matrix Inequality (LMI)

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