Sloot, Alex (2021) High precision control design for thePERA system. Integration Project, Industrial Engineering and Management.
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Abstract
Robotic arms may perform very high-precision tasks such as wafer production and eye surgery. However, only special classes of mechanical systems currently manage these precise tasks. Demand for a broader range of systems with high precision and accuracy exists in aerospace, medical, and manufacturing fields. In the non-linear field, a class of non-linear port-Hamiltonian mechanical systems with optimization opportunities exists. This thesis will explore the bounds of tuning non-linear passivity-based proportional-integral-derivative controller gains by testing a proposed tuning rules theory by \cite{tuningPID}. First, the problem setting will briefly be explained, after which the technical background will be addressed. The remainder of this thesis is split up into three chapters each covering a part of the main question of this thesis: \say{How can one adequately select non-linear PID controller gains in order to reduce oscillations for port-Hamiltonian systems resulting in higher precision robots to satisfy customer requirements in fields such as aerospace, medical areas, and manufacturing}. The Philips Experimental Robot Arm (PERA) will be used for testing the proposed tuning rules.
| Item Type: | Thesis (Integration Project) |
|---|---|
| Supervisor name: | Scherpen, J.M.A. and Bosch, A.J. and Borja Rosales, L.P. and Chan Zheng, C. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Integration Project |
| Language: | English |
| Date Deposited: | 16 Jun 2021 16:06 |
| Last Modified: | 16 Jun 2021 16:06 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/24596 |
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