Mathematical modeling, trajectory and vibrations control of a three link flexible robot

The objective of this thesis is to study the dynamics and control of a three link flexible robot. The Lagrange equations are used for deriving the equations of motion of this three link flexible robot. The equations of motion of this robot are derived by using a mathematical and symbolic manipulation software known as MACSYMA. The vibration mode shapes are approximated by using assumed mode method. A PID 'proportional, integral and differential' controller is used in this system to control the input torques to obtain desired joint angles trajectory. Linear stabilizers are introduced to suppress the vibrations of the links in both in plane and out of plane directions. Pole placement technique is used to place the poles and find the appropriate feed back gains of the dynamic system.

Name thesis:degree_name

Master of Science (MS)

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor dc:publisher

University of Nevada, Las Vegas

Year

1992

Author dc:creator

• Jupudi, Satish

Contributors dc:contributor

• Mohamed Trabia

Statement dc:rights

• IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

Language dc:language

English

Identifier

https://oasis.library.unlv.edu/rtds/173

OAI identifier oai:identifier

oai:oasis.library.unlv.edu:rtds-1172