Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/16621
Title: Control of a Macro-Mini Robotic Manipulator
Authors: LU XIUJUAN
Keywords: Macro-Mini manipulator control,kinematics and dynamics, one-way coupling control, goal position and trajectory tracking control,
Issue Date: 2-Mar-2009
Source: LU XIUJUAN (2009-03-02). Control of a Macro-Mini Robotic Manipulator. ScholarBank@NUS Repository.
Abstract: Macro manipulators are characterized by lack of accuracy and poor response time,whereas Mini manipulators are fast and accurate. Many applications require roboticmanipulators to have a large workspace and are capable of fast, precise motion. In thisstudy, a Macro and a Mini robot are firstly studied and controlled separately. Thenthey are incorporated into one system (Macro-Mini system).A new method for Macro-Mini control, one-way coupling control, is proposed andsimulated in Matlab. In this control, the full dynamics of the overall system is notrequired. Only the dynamics for subsystems (3DOF manipulators, in this study) areneeded for the control of the combined system.Simulation results show that the combined system, with the proposed control scheme,can track a goal position or trajectory in a large workspace with fast response, smalltracking and steady state errors.
URI: http://scholarbank.nus.edu.sg/handle/10635/16621
Appears in Collections:Master's Theses (Open)

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