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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 45403 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Durali, Mohammad
- Abstract:
- The present research intends to design a controller for modular reconfigurable manipulator robots. Manipulators are made up of several links and joints. By attachment of links and joints in different ways, one may make a variety of robot configurations in modular reconfigurable manipulators.
To meet modularity and reconfiguration needs, hybrid control architecture was selected which contains a central supervisory section and distributed controllers located on individual modules. Central supervisory section specifies the trajectory of the robot and other control tasks like position control, speed control and etc. are performed by distributed controllers. In hybrid architecture, dynamic system is broken to smaller units called modules. Every module contains an actuator, a sensor and the attached link. Modules are divided to rotational ones and linear ones. The proposed control method for every module consists of a servo controller and an auxiliary section to eliminate disturbances. Disturbance torques of dynamic coupling, friction, gravity and etc. are compensated by this section.
Using MATLAB software, controller was modeled. Based on the hardware design of the robot, required parameters of modules were obtained to make the models of several common robot configurations. Controller performance was tested and evaluated. The proposed control method in hybrid architecture showed a good performance. Tracking error never exceeded 1% of the desired input - Keywords:
- Robot ; Control ; Manipulator ; Modular Robot ; Reconfigurable
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