Hierarchical Computed Torque Method of Planar Dual Arm Robot with Flexible Joints
| Autor: | Chen-Yeh Lee, 李承燁 |
|---|---|
| Rok vydání: | 2013 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 101 In this thesis, a hierarchical computed torque method is proposed to control a planar dual arm robot with flexible joints. First, a planar dual arm robot with flexible joints is separated into two subsystems, one is called robot arm subsystem and the other is called motor subsystem. Dual-arms robots holding an object can be seen as a closed chain multibody mechanical system and they are converted into two open chain systems by using cut-body method. The constraint equation of motion is derived by Lagrange Multiplier theory. The theory can be used to calculate the force acting on the object hold by the dual-arms robot and it will be obtained by solving the constraint equation of motion. To overcome the problem of uncertainty of the inertial parameters, a parameter estimation algorithms is derived. Finally, computer simulation results show that the proposed control method and the parameter estimation algorithm have atisfactory performance. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|