Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Unconstrained motion and constrained force and motion control of robots with flexible links
Download
index.pdf
Date
2005
Author
Kılıçaslan, Sinan
Metadata
Show full item record
Item Usage Stats
95
views
100
downloads
Cite This
New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, modal variables and contact force components. The performances of the proposed methods are illustrated on a planar two-link robot and on a spatial three-link robot. Unmodeled dynamics and measurement noises are also taken into consideration. Performance of the proposed motion control method is compared with the computed torque method.
Subject Keywords
Automatic machinery(General)
,
Control Engineering Systems.
URI
http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf
https://hdl.handle.net/11511/15054
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
"High precision CNC motion control"
Ay, Gökçe Mehmet; Dölen, Melik; Department of Mechanical Engineering (2004)
This thesis focuses on the design of an electrical drive system for the purpose of high precision motion control. A modern electrical drive is usually equipped with a current regulated voltage source along with powerful motion controller system utilizing one or more micro-controllers and/or digital signal processors (DSPs). That is, the motor drive control is mostly performed by a dedicated digital-motion controller system. Such a motor drive mostly interfaces with its host processor via various serial comm...
Control system design for a haptic device
Bideci, Süleyman; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2007)
In this thesis, development of a control system is aimed for a 1 DOF haptic device, namely Haptic Box. Besides, it is also constructed. Haptic devices are the manipulators that reflect the interaction forces with virtual or remote environments to its users. In order to reflect stiffness, damping and inertial forces on a haptic device position, velocity and acceleration measurements are required. The only motion sensor in the system is an incremental optical encoder attached to the back of the DC motor. The ...
Novel position measurement and estimation methods for CNC machine systems
Kılıç, Ergin; Dölen, Melik; Department of Mechanical Engineering (2007)
Precision control of translational motion is vital for many CNC machine tools as the motion of the machinery affects the dimensional tolerance of the manufactured goods. However, the direct measurement along with the accurate motion control of machine usually requires relatively expensive sensors i.e. potentiometers, linear scales, laser interferometers. Hence, this study attempts to develop reference models utilizing low-cost sensors (i.e. rotary encoders) for accurate position estimation. First, an indire...
Modeling and real-time control system implementation for a Stewart Platform
Albayrak, Onur; Arıkan, Mehmet Ali Sahir; Department of Mechanical Engineering (2005)
This work focuses on modeling and real-time control of a motion simulator for dynamic testing of a two-axis gyro-stabilized head mirror used in modern tanks. For this purpose, a six-degree-of freedom Stewart Platform which can simulate disturbances on the stabilized head mirror during operation of the tank is employed. Mathematical models of the Stewart Platform are constructed using MATLAB and ADAMS. Control system infrastructure is constructed and real-time control system elements are employed. Controller...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization
Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01)
Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. Kılıçaslan, “Unconstrained motion and constrained force and motion control of robots with flexible links,” Ph.D. - Doctoral Program, Middle East Technical University, 2005.
