Design of Adaptive Control Schemes for an Industrial Robot Arm.
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University of Lagos
This study has investigated the techniques for motion control of industrial robots with an application in which the robot’s end-effector is required to track prescribed paths under conditions of changing payload masses, friction and elasticity in the gear boxes. In particular, the minimal configuration (the first three degree-of-freedom) necessary for positioning the end-effector of a revolute industrial robot arm, MIMO, has been studied in terms of kinematics, dynamics and control. The lagrangian formulation of the equations of motion was applied to the robot arm. This showed that the robot’s equations of motion are highly nonlinear, complex second-order differential equations. A review carried out in this thesis, of robot controllers reported in the technical literature, has also identified where technical problems still remain to be resolved. Simulation studies which have been carried out show that a conventional robot controller can not cope with parameter variations due to large displacements and fast motions. Thus in this thesis, the theories of perfect model following control, hyperstability, quadratic optional regulators and model control are deployed in conjunction with adaptive control techniques, resulting in robust controllers suitable for robot trajectory tracking control purposes. Simulation results highlighting the performance of the adaptive schemes are presented.
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Industrial Robots , Motion control , Robot Controllers , Adaptive Control
Katende, J.(1986). Design of Adaptive Control Schemes for an Industrial Robot Arm. A Thesis Submitted to the School of Postgraduate Studies, University of Lagos for the Degree of the Award of Doctor of Philosophy in Electrical Engineering.