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Design and Implementation of a Real Time Controller for a 6 DOF Manipulator

Nasseri, Mohammad Hossein | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42764 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali
  7. Abstract:
  8. In recent decades, the usage of robots in industrial applications increased dramatically. One group of robots are manipulators which they are used in production lines for moving parts, cutting, welding, …. In these applications, different control methods are used to control the end effector of manipulators precisely. From one aspect, control methods are divided to two parts: A) The methods that do not need to equation of motion of robot, such as proportional-integral-derivative method. B) The methods that are designed based on equation of motion of robot. To use these methods, first the equation of motion of manipulator should be calculated according to its structure. These equations are based on robot dynamic parameters such as centers of gravity, inertial moments and the mass of links which they are unknown. So before we can use these equations, these quantities should be estimated with identifying methods. In addition, the controller needs hardware that has high calculation capability, because the equations of motion are non-linear and complicated. The aim of this project is to design and implement a controller for a 6 degree of freedom elbow manipulator. In the first stage, after identifying requirements of electric motors and installed sensors, the hardware and software of controller are designed and build. Then the proportional-integral-derivative control method implemented in the hardware. After that, equations of motion for elbow structure are calculated and identifying methods for estimation of unknown parameters are introduced. At the end, the nonlinear and adaptive controllers are designed, using the simulation of manipulator in MATLAB.

  9. Keywords:
  10. Sliding Mode Control ; Adaptive Control ; Parameters Identification ; Proportional-Integral-Derivative (PID)Controller ; MA2000 ; Elbow Manipulator

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