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Identification and Control of Robot Manipulators using Cell Phone Sensors

Ebrahimi Varkiani, Mohammad | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 55939 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. The goal of controlling robot manipulators is to perform the mission intended for its end effector. Model-based control is a solution that can achieve the control goal with high speed and accuracy in the presence or absence of environmental obstacles by using the knowledge of the robot model. In this thesis, the Armtin 5 robot model parameters were identified in two steps. In the first step, the gravity and friction parameters and in the second step, the dynamic parameters were estimated. In the estimation of gravity and friction parameters, the non-linear behavior of friction causes the estimated parameters to be accompanied by a large amount of error. Estimation of the parameters was performed using the torques measured from the robot. To solve this problem, a method was introduced which seperates gravity and friction signals at first and then estimates the parameters. In the estimation of dynamic parameters, knowledge of the speed and acceleration of the joints is needed, which are calculated by differentiating the signals measured by the joint encoders once and twice respectively. The differentiation of the signals measured by the encoders amplifies the noise which presents in these signals and thus reduces the accuracy of parameter estimation. To solve this problem, a method was introduced which uses angular velocity and linear acceleration signals to estimates the parameters more accurately. To measure angular velocity and linear acceleration, a hardware was developed which uses a sensor like cell phone sensors and sends the measured data to the computer in real time. At the end, to check the accuracy of the estimated parameters, a PD controller with gravity and friction compensation was used, and after moving the robot, the measured signals were compared with the signals which was applied to the controller
  9. Keywords:
  10. Robot Manipulator ; Robot Control ; Angular Velocity ; Parameter Estimation ; Cell Phone Sensors ; Proportional-Derivative (PD)Controller

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