Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/15171
Title: Modeling and control of flexible link robots
Authors: TIAN ZHILING
Keywords: Flexible link robots, AMM and FEM Modeling, Adaptive control
Issue Date: 29-Dec-2005
Source: TIAN ZHILING (2005-12-29). Modeling and control of flexible link robots. ScholarBank@NUS Repository.
Abstract: In this thesis, dynamic modeling and controller design of rotational/translational flexible link robots are investigated. For the simulations and controller design, Assumed Modes Method (AMM) and Finite Element Method (FEM) are reviewed for completeness. For the single link model, an essential property is discovered for adaptive controller design. By generalizing the FEM modeling to an n-link body, the multi-link model is presented. For the single link model, based on singular perturbation theory, the system is regrouped into two reduced order systems. An adaptive control using neural networks is then proposed by estimating the unknown slow time varying equilibrium in the boundary system. The proposed method can control the rigid part to track the desired trajectory while stabilizing the flexible part simultaneously. The control for constrained multi-link flexible robots is also explored. The controller, which is designed for a planar robot system in contact with a compliant surface, can keep the rigid variable tracking the desired value and achieve the regulation of the contact force. Simulations show the effectiveness of all the proposed controllers.
URI: http://scholarbank.nus.edu.sg/handle/10635/15171
Appears in Collections:Master's Theses (Open)

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