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Application of the “Design for Control” Approach in order to Facilitate the Design and Adaptive Control of a Delta Parallel Robot

Sheikh Zeinoddin, Mehdi | 2019

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51569 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. The Delta parallel robot is used extensively in many industries, including packaging, because of its superior speed and precision. In this project a Delta robot was designed and then controlled specifically for use in the production line of a plastic container factory. In order to optimally design the robot, a number of desirable fitness functions were defined thus: minimizing the dimensions of the robot for a specific desired workspace, minimzing the effect of the robot’s weight on its actuators and satisfying the demands of the “Design for Control” approach. Design for control means considering the complexity of controlling a system while designinig it. Therefore the remaining fitness functions were defined as: Diagonalizing the Inertia matrix of the robot and diagonalizing the Coriolis matrix. The design was then optimized using the Genetic Algorithm. Subsequently, the robot was controlled using four control algorithms and the results were compared, these were: Backstepping Control, Adaptive Backstepping, Synchronized Backsteppng and Synchronized Adaptive Backstepping. The results showed that using Adaptive control on a robot which deals with constantly changing loads, such as this one, leads to drastically improved performance. On the other hand, the results also indicate that adding synchronization to a system can help stabilize it. Finally, the computational load of controlling the designed robot was compared to that of a widely-used industrial robot and it was shown that applying the Design for Control approach leads to a 33% lighter computational load
  9. Keywords:
  10. Genetic Algorithm ; Control Design ; Adaptive Control ; Back-Stepping Method ; Synchronization Control ; DELTA Robot

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