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Robot Control By Port-Hamiltonian Approach

Ebrahimi, Keivan | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45924 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. This thesis is devoted to deriving a port Hamiltonian control approach for different scenarios of brachiation movement by a two-link underactuated planar robot called brachiation robot. The port Hamiltonian modeling and control of this type of robot is introduced for the first time and shows promising results in the analysis and simulation as will be showed here. Animals have long inspired roboticists. Their dexterity, versatility, flexibility of motion and great variety of behaviors has made them benchmarks for robot performance. Recently things have begun to change and robots are now capable, to a limited degree, of mimicking the behavior of animals. This paper studies a type of dynamically moving robot modeling an ape’s locomotion which is called brachiation robot. A brachiating robot could be designed for inspection of aerial power lines and cable bridges. By moving like an ape the robot is able to overcome obstacles on the power line, such as supporting insulators, and on the cable bridges, such as junction locations. Our work is based on the unified approach that is introduced by Fujimoto. By employing a generalized canonical transformation, Fujimoto succeeded in trajectory tracking control of nonholonomic port-controlled Hamiltonian systems. Although the approach is novel and promising, only fully actuated systems are considered and a generalization to underactuated systems is not provided yet. We generalize the approach to an specific example of underactuated robotics i.e. brachiation robot. This is motivated by probable broad applications of the robot in the near future and theoretically challenging problems that it has to offer. As the mechanism of underactuated systems control has not been well established yet, designing a trajectory tracking controller for such an underactuated robot is consequential. The main comparative advantage of the proposed controller is that it focuses on the port Hamiltonian modeling and control. This results in an energy based control in the process of brachiating including achieving, tuning and retaining the energy. Besides that, genetic algorithm optimization method is utilized to tune the controller parameters such that some features are met and some constraints are satisfied
  9. Keywords:
  10. Brachiation Robot ; Tracking Control ; Robot Control ; Port Hamiltonian System ; Port Hamiltonian Control

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