Koops, F.C. (2014) Trajectory Tracking Control of the Philips Experimental Robot Arm in the Port-Hamiltonian Framework. Master's Thesis / Essay, Physics.
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Abstract
In this research a control model is designed for the first two shoulder joints of the Philips Experimental Robot Arm, such that the arm is able to smoothly follow a desired path. The research is a step in the direction of letting a robot perform simple household tasks. The arm is controlled in the port-Hamiltonian framework, since this framework is suitable for modeling complex systems. By a change of variables, we transform the original port-Hamiltonian system with a non-constant inertia matrix into an equivalent port-Hamiltonian form which has a constant inertia matrix. Furthermore, we apply a coordinate transformation in order to realize a trajectory tracking control strategy in our system. Before doing experiments on the arm, the model is tested with a simulation in Matlab Simulink. The maximum error between the desired and the real joint angles in the simulation is 0.8 degrees. For the experiments on the arm we use a sampling time of 1 ms and a force compensation when the arm is going down. The desired trajectory of the first joint is a sine wave with a period of 20 seconds and an amplitude of 40 degrees. The second joint is controlled to be constantly zero. The maximum error in the first joint is 1.4 degrees and in the second joint the error is always less than 1 degree. The control model that is designed is a stable control system, since it works for a period of 10, 20 and 30 seconds and for amplitudes of 20, 30 and 40 degrees. Every time the scripts are run with the same parameters the arm has a comparable behavior and the scripts work for more than one cycle.
| Item Type: | Thesis (Master's Thesis / Essay) |
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| Degree programme: | Physics |
| Thesis type: | Master's Thesis / Essay |
| Language: | English |
| Date Deposited: | 15 Feb 2018 07:59 |
| Last Modified: | 15 Feb 2018 07:59 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/12189 |
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