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UBC Theses and Dissertations
Experimental verification of rapid tracking by a robot manipulator in short duration processes Lin, Sunny X. Y.
Abstract
This thesis presents results of a series of experiments carried out to evaluate the applicability and performance of the recently developed Rapid Tracking Control Methodology on a robot manipulator. The control experiments were done on the UBC Parallelogram Direct Drive Arm (PDDARM), with the objective to control the arm to track an almost arbitrarily specified short but complex trajectory precisely. This experimental research project consists of two phases. The first involves estimation of the dynamic model of the direct drive manipulator. A practical and effective procedure was developed from the PDDARM Dynamic Equations of Motion to generate a dynamic equation which is linear in terms of the manipulator inertial parameters. This was then used to identify a dynamic model of the direct drive manipulator suitable for the purposes of control. The identification results were quite good since the applied torques can be predicted quite accurately from the estimated parameters. The second phase of the research is to apply the estimated dynamic model of the PDDARM to evaluate the trajectory following control performance of the Rapid Tracking Control algorithm. Observations and analysis of the experimental results show that the Rapid Tracking Control algorithm can significantly improve the trajectory following capability of a robot manipulator, as well it has all of the nice properties predicted by the previous theoretical analysis. It was further found that the application of this algorithm actually reduces the amount of time during which the system actuators may saturate when tracking a complex trajectory. Due to the fact that the algorithm is equivalent to a very high order feedback/feedforward controller, its output excites the controlled system quite persistently during operation. As a result, its application also facilitates identification of the system model for adaptive control.
Item Metadata
Title |
Experimental verification of rapid tracking by a robot manipulator in short duration processes
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1994
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Description |
This thesis presents results of a series of experiments carried out to evaluate the applicability
and performance of the recently developed Rapid Tracking Control Methodology on
a robot manipulator. The control experiments were done on the UBC Parallelogram Direct
Drive Arm (PDDARM), with the objective to control the arm to track an almost arbitrarily
specified short but complex trajectory precisely. This experimental research project consists
of two phases. The first involves estimation of the dynamic model of the direct drive manipulator.
A practical and effective procedure was developed from the PDDARM Dynamic
Equations of Motion to generate a dynamic equation which is linear in terms of the manipulator
inertial parameters. This was then used to identify a dynamic model of the direct drive
manipulator suitable for the purposes of control. The identification results were quite good
since the applied torques can be predicted quite accurately from the estimated parameters.
The second phase of the research is to apply the estimated dynamic model of the
PDDARM to evaluate the trajectory following control performance of the Rapid Tracking
Control algorithm. Observations and analysis of the experimental results show that the Rapid
Tracking Control algorithm can significantly improve the trajectory following capability of a
robot manipulator, as well it has all of the nice properties predicted by the previous theoretical
analysis. It was further found that the application of this algorithm actually reduces the amount
of time during which the system actuators may saturate when tracking a complex trajectory.
Due to the fact that the algorithm is equivalent to a very high order feedback/feedforward
controller, its output excites the controlled system quite persistently during operation. As a
result, its application also facilitates identification of the system model for adaptive control.
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Extent |
2544418 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-02-24
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0065112
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1994-05
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.