Modelling, simulation, and control of robots

The continuous dynamic model of a robot is represented by nonlinear coupled differential equations. These can be discretized using first or second order Taylor's series approximations. One such model, the Greenspan Discrete Mechanics model appears to be the best for control applications. Global linearization of this model is straightforward and the linearized model is used to design $l\sp1$ optimal controllers for the robot. The Multi Input Multi Output optimization problem splits up into decoupled Single Input Single Output problems which are individually solved. Optimal systems thus designed are simulated and compared to traditional robot controllers. Simulations confirm the $l\sp1$ optimality of the controllers. This thesis thus provides a useful new tool for the robot control engineer.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

Masters

Discipline thesis:degree_discipline

Engineering

Grantor

Rice University

Year dc:date.issued

1989

Author dc:creator

• Chatterjee, Trinanjan

Advisor dc:contributor.advisor

• Pearson, J. Boyd

• Electronics
• Electrical engineering

Statement dc:rights

• Copyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1911/13349

OAI identifier oai:identifier

oai:repository.rice.edu:1911/13349