Control of Two-Arm Flexible Robot Carrying Fluid Tank With Constraint on the Elevation of the Liquid Free-Surface

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Bagheri, Pedram | 2011

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 42045 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Haddadpour, Hassan; Kouchakzadeh, Mohammad Ali
Abstract:
Control of two-arm flexible robot is studied in this research. The goal is to control the robot in order to carry a fluid tank installed in the top of the last arm, while the vibration of fluid must be damped. The equations governing the system are extracted by the energy method while Euler-Bernoulli beam is selected to model the elastic members. In order to develop the equations, all of the potential and kinematic energies due to rigid and elastic motions are calculated, then a proper controller is designed for the system to accomplish the considered missions. Since the system is classified as an under-actuated system, the exact feedback linearization method is not practical to control the system, so the partial feedback linearization strategy is chosen as the control strategy. At the end, it’s shown analytically that the system is stable under the controller designed for the system, then the results are validated with computer simulations
Keywords:
Robot Arm ; Flexibility ; Control ; Nonlinear Control

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