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Planar Robot Arm Modelling and Control
Mälardalen University, School of Innovation, Design and Engineering.
2012 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The thesis objective is to model a one link robotic arm mounted on a sliding mobile platform and to investigate different control strategies under the effect of gravity and external force disturbance. For simplicity the robotic set up can be modelled and controlled as an inverted pendulum moving on a non constant sloping surface.

Firstly the control is done on level ground. This lower mathematical complexity will be taken as an advantage to approach the analysis on aspects more related with control theory: several control techniques and observers, steady state error study, etcetera.

Afterwards the control is generalized for sloping grounds. This chapter will seek situations closer to reality, the purpose is to design something with practical interests, like model a Segway.

Place, publisher, year, edition, pages
2012. , 78 p.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-14883OAI: oai:DiVA.org:mdh-14883DiVA: diva2:537063
Presentation
2012-06-15, Gamma, Mälardalens högskola, Box 883, 721 23 Västerås, Sweden, Västerås, 08:15 (English)
Uppsok
Technology
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Examiners
Available from: 2012-06-27 Created: 2012-06-25 Last updated: 2012-06-27Bibliographically approved

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fulltext(1178 kB)940 downloads
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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