Knowledge base: Warsaw University of Technology

Back

Modelling and control of robot manipulators in joint and operational space

Abstract

The aim of this thesis is to modelling of the dynamics of planar serial manipulator with revolute joints only and analysis of control methods for such manipulators, both in joint and task space. Calculations are held in a simulation environment built with the use of MATLAB software. The model covers manipulators with rigid bodies. Friction and dynamics of actuators are not taken into consideration. This thesis consists of seven chapters. The first one is an introduction, where the subject raised in the thesis is presented. Chapter determines also main aim and scope of this work. In the end, there is a short state of the art review included, which is associated with efficient algorithms used in robot dynamics and several methods for robot manipulators control Mathematical preliminaries can be found in chapter two. It provides basic information about spatial algebra, which is used in this thesis. Most important properties of chosen notation are also given. Chapter three describes the model of manipulators dynamics. First of all, the mathematical model is discussed. Next, recursive algorithms for forward and inverse dynamics of serial manipulators are presented. In this work, two models are used as examples. A five-body manipulator is used for joint space calculations and a two-body manipulator with rotating effector is an example for operational space calculations. Additionally, the relationship between joint and task space is explained. Chapter four presents the implementation of the model in MATLAB environment. This chapter describes also a referential model of the manipulator built using ADAMS software. In the end, results of both implementations are compared. Simulated model of the manipulator consists of five links and various initial conditions. Chapter five considers the subject of manipulators control. The beginning of this chapter covers theoretical basis regarding P, PD, PID controllers and also computed-torque method. Then, simulation results of elaborated control methods are presented for both joint and task space. Chapter six briefly characterises redundant manipulators. The last chapter provides a summary and conclusions from performed works. It also presents suggestions for further research.
Diploma type
Engineer's / Bachelor of Science
Diploma type
Engineer's thesis
Author
Adrianna Kaźmierczak (FPAE) Adrianna Kaźmierczak,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Modelowanie i sterowanie manipulatorów w przestrzeni złączy i zadań
Supervisor
Paweł Malczyk (FPAE/IAAM) Paweł Malczyk,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
Study subject / specialization
, Automatyka i Robotyka (Automation and Robotics)
Language
(pl) Polish
Status
Finished
Defense Date
17-02-2016
Issue date (year)
2016
Pages
60
Internal identifier
MEL; PD-3602
Reviewers
Paweł Malczyk (FPAE/IAAM) Paweł Malczyk,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Janusz Frączek (FPAE/IAAM) Janusz Frączek,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE)
Keywords in Polish
dynamika manipulatora, robotyka, algorytm rekursywny, sterowanie pozycyjne, sterowanie we współrzędnych złączowych, sterowanie w przestrzeni zadań
Keywords in English
robot manipulator dynamics, spatial algebra, robotics, recursive algorithm, set-point control, position control, control in joint space, control in operational space
Abstract in Polish
File
• File: 1
urn:pw-repo:WUT5708b4cbe51f449995612083816e9e56