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Decentralized Control of Robot Manipulators

Yazdi Almodarresi, Mostafa | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47752 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. In this thesis, a decentralized controller for trajectory tracking of robot manipulators is developed. Proposed control scheme use uncalibrated joint torque sensors. Recently, it has been shown that the use of joint torque sensing results in a simplified manipulator model and reduce the need of dynamic model of links for controlling. In this thesis, we use the special lower triangular structure of this simplified model for decentralized control of manipulator. For the first time a smooth decentralized law is designed which makes both position and velocity tracking errors of robot manipulators globally converge to zero. Against most of previous work in decentralized control of manipulators, in this thesis the effect of joint friction is considered. Additionally the need for precise measurement of joint torque is relaxed by considering uncalibrated joint torque sensors and implementation of adaptive control algorithm. Additional to simplicity of computation and implementation of decentralized control which are represented commonly in previous, in this thesis advantage of decentralized control against centralized control in presence of sensor fault is demonstrated by simulation. Finally simulation results are provided for a four-link robot manipulator to verify the performance of the proposed scheme
  9. Keywords:
  10. Decentralized Controller ; Adaptive Control ; Robot Manipulator ; Nonlinear Control ; Joint Torque Sensor

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