Modeling and control of a two-arm elastic robot in gravity

dc.contributor.advisor Martin J. Vanderploeg
dc.contributor.author Oh, Chaeyoun
dc.contributor.department Mechanical Engineering
dc.date 2018-08-16T19:10:33.000
dc.date.accessioned 2020-07-02T06:13:16Z
dc.date.available 2020-07-02T06:13:16Z
dc.date.copyright Mon Jan 01 00:00:00 UTC 1990
dc.date.issued 1990
dc.description.abstract <p>This thesis develops and experimentally verifies a model of a two arm robot with highly elastic arms. The model is later used in this research to evaluate control algorithms. The model includes the effects of gravity. The dimensions of the arms are chosen to maximize the coupling between the flexible and large scale motion of the robot. The model is then linearized and a new analytical solution is presented for the natural frequencies and mode shapes of the robot at given equilibrium positions. This analytical solution is then compared to the assumed mode shape solutions to determine the accuracy relative to the number of assumed modes included in the model. An experimental test rig is built and tests are conducted to verify the model. A number of different amounts of end mass and torsional stiffness at the joints are used during the validation. For 12 cases tested, the measured first four natural frequencies are within ±7% of the frequencies predicted by the model with an average error of only 2.89%. Finally, the model is used to design a control algorithm for end effector control of the robot using a torque input at each of the two joints. An optimal control algorithm developed using LQR with the prescribed degree of stability method results in effective end effector control with short response time and little overshoot.</p>
dc.format.mimetype application/pdf
dc.identifier archive/lib.dr.iastate.edu/rtd/9402/
dc.identifier.articleid 10401
dc.identifier.contextkey 6359899
dc.identifier.doi https://doi.org/10.31274/rtd-180813-12246
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath rtd/9402
dc.identifier.uri https://dr.lib.iastate.edu/handle/20.500.12876/82498
dc.language.iso en
dc.source.bitstream archive/lib.dr.iastate.edu/rtd/9402/r_9100490.pdf|||Sat Jan 15 02:32:52 UTC 2022
dc.subject.disciplines Mechanical Engineering
dc.subject.keywords Mechanical engineering
dc.title Modeling and control of a two-arm elastic robot in gravity
dc.type article
dc.type.genre dissertation
dspace.entity.type Publication
relation.isOrgUnitOfPublication 6d38ab0f-8cc2-4ad3-90b1-67a60c5a6f59
thesis.degree.level dissertation
thesis.degree.name Doctor of Philosophy
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