Veen, Jochem, van der (2020) Passivity-based trajectory tracking of the Philips Experimental Robot Arm. Research Project, Industrial Engineering and Management.
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Abstract
In this work, a method for trajectory tracking of robotic arms is designed and implemented on the Philips Experimental Robot Arm, a robotic arm intended for research applications. To demonstrate the method, several experiments are conducted, where the arm is led to draw a desired shape on a canvas. To this end, a passivity-based control law for trajectory tracking of fully actuated mechanical systems is proposed. The system is modeled in the port-Hamiltonian framework for mechanical systems. The closed-loop system is proven to be globally asymptotically stable by Lyapunov's second method and La Salle's invariance principle. The proposed control strategy is naturally saturated and requires only position measurements, omitting the need for velocity measurements by extension of the system. This control law is compared against a non-saturated equivalent to show differences in performance. For the task of drawing, three degrees of freedom are required to let the end-effector of the arm follow the desired path. To deal with sensor offsets and position errors, a force-based drawing enhancement heuristic approach is proposed. This heuristic approach enables a successful drawing application for the PERA. An additional two degrees of freedom in the wrist are considered to control the orientation of the end effector. The implementation of these joints is successful, but at the cost of the performance of the heuristic approach.
| Item Type: | Thesis (Research Project) |
|---|---|
| Supervisor name: | Scherpen, J.M.A. and Borja Rosales, L.P. and Munoz Arias, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 30 Mar 2020 10:06 |
| Last Modified: | 30 Mar 2020 10:06 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/21689 |
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