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Synchronization of multiple robotic manipulators

Vedder, G (2017) Synchronization of multiple robotic manipulators. Master's Thesis / Essay, Industrial Engineering and Management.

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Abstract

In this research, a decentralized synchronization controller is designed, implemented and tested. A leader-follower approach is used based on a PID control to synchronize four AX-18a Smart Robotic Arms. One of the difficulties in this synchronization problem is that instead of the general input for robotic manipulators, torque, only the goal-position in each time step can be used as an input. After the design and implementation, the robustness of the designed controller is tested in two different experiments. In the first experiment the communication topology can be considered as a star, where the angular positions of the leader robot’s joints are send to all follower robots. The cooperative transportation of a beam and a plateau was tested and in both cases, the transport of the objects was successfully completed even though the small measured errors. In the second experiment, the followers’ controllers did not all receive the same information since the communication structure can be considered as a tree. In this communication structure, two followers received information about the angular positions of the leaders’ joints and the other robot received only information about the angular positions of a follower’s joints. The same operations as in the first experiment were tested and although a small increase in error, the operations were still successfully completed.

Item Type: Thesis (Master's Thesis / Essay)
Degree programme: Industrial Engineering and Management
Thesis type: Master's Thesis / Essay
Language: English
Date Deposited: 15 Feb 2018 08:32
Last Modified: 15 Feb 2018 08:32
URI: http://fse.studenttheses.ub.rug.nl/id/eprint/15850

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