Underactuated robot manipulator control via μ-Synthesis
Full text
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| Author(s): |
Tácio Luiz de Souza Barbeiro
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) |
| Defense date: | 2001-06-11 |
| Examining board members: |
Marco Henrique Terra;
José Jaime da Cruz;
Ricardo Paulino Marques
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| Advisor: | Marco Henrique Terra |
| Abstract | |
This work deals with implementation of a robust control technique, μ-Synthesis, in a mani- pulator robot with three degrees of freedom and passive joints. The necessity of a robust control is due to the fact that in a real application the system is subject to changes in its internal parameters and external disturbances (sensor noise, etc). Here, a robust control methodology that combines the computed torque method and robust controllers designed via μ-Synthesis is proposal and used with success. The mathematical formulation of the system dynamics is presented and the linearization is accomplished by the state feedback included in the method. An overview of theoretical concepts presents in the μ-Synthesis theory is made and a design procedure is presented. Nominal models for all robot\'s configurations are defined and robust controllers are designed using the D-K iterations method. The test and validation of the controllers are realized in a simulation environment and also in the experimental manipulator UArmII (Underactuated Robot Manipulator II), that is a robot manipulator (equipped with 3 joints, actuators and brakes) projected for the study of passive dynamics. (AU) | |