Geometric Control of Brachiation Robot using Controlled Lagrangians Method

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Tashakori, Shabnam | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 46506 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Vosoughi, Gholamreza; Azadi Yazdi, Ehsan
Abstract:
This thesis studies a brachiation robot that is a long armed locomotion similar to apes. The robot has 2 revolute joints but only one of them is actuated. In this thesis, after deriving dynamic model of the robot, the Controlled Lagrangian (CL) method is used for stabilization. The matching conditions satisfied for the controller are derived and the extended λ-method is used to solve PDE’s involved in the method of controlled lagrangian. Satisfactory controller’s gains are chosen by PSO algorithm. Feasibility of the developed controller is investigated by numerical simulations and finally, theoretical results are validated with experimental observations
Keywords:
Brachiation Robot ; Geometric Control ; Underactuated System ; Controlled Lagrangian Method ; Discrete Particle Swarm Optimization (PSO)Algorithm

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