Inertia compensation of a planar robot for human upper limb interaction

This thesis documents the development of software and a control system for the InMotion2 planar robot. Software was developed to provide sensor input processing from the robot encoders and force/torque transducer, and output processing for the robot motors. A controller scheme was developed to compensate for the natural robot configuration-based inertia as well as friction and un-modeled dynamics. The inertia compensator was designed using an inertial admittance model and a nonlinear robust adaptive tracking controller based on sliding mode control. A hybrid control mode was developed in which impedance control was used to enforce a virtual constraint and inertia compensation acted along the constraint. The controller proved to be stable throughout testing and provide the desired inertia. The accuracy of the inertia compensation was within human perception limits for modest inertia references.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2018

Author dc:creator

• Thorup, Jessie

Advisor dc:contributor.advisor

• Neville Hogan.

• Mechanical Engineering.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/118676

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/118676