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Distance Based Formation Control of Four Robotic Arm End-Effectors

Vos, W.F. (2017) Distance Based Formation Control of Four Robotic Arm End-Effectors. Master's Thesis / Essay, Industrial Engineering and Management.

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The main goal of this research is to design and implement a formation control algorithm that can be applied on a robotic arm (Smart Arm) multi-agent system. Various formation control approaches are described in this thesis and a Virtual Structure approach appeared to be most suitable. The formation control algorithm based on a Virtual Structure is constructed by citet{garcia2016} and makes use of gradient-based control laws to achieve and maintain a group formation of the Smart Arm end-effectors. Since the Smart Arm only consist of a joint space position controller, there are some difficulties by applying the formation control algorithm. By implementing the formation control algorithm to a robotic manipulator, techniques as forward and inverse kinematics have to be considered and are therefore described in this thesis. The experiments with the simulated and real Smart Arms are executed in the Discrete Technology & Production Automation lab at the University of Groningen. During the experiments, the end-effector should reach and maintain a rigid formation after the joints of four Smart Arms where set at random positions. The experiments validate that the end-effectors converge to a desired formation and that the errors in inter-agent distances become 0 meters. Furthermore, to test the robustness of the formation control algorithm applied to the Smart Arms, region of attraction simulations are performed. Those simulations show that if the end-effector is sufficient close to a desired formation it is most likely to reach that formation.

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 08:33
Last Modified: 15 Feb 2018 08:33

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