Dissertations / Theses on the topic 'TWO LINK ROBOT SYSTEM'
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Taqi, Sarah M. A. M. "Reproduction of Observed Trajectories Using a Two-Link Robot." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1308031627.
Full textEkrekli, Alaaddin. "Control & identification of a two link robot manipulator." Thesis, University of Liverpool, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316886.
Full textBo, Xu, Kenji Fujimoto, and Yoshikazu Hayakawa. "Control of two-link flexible manipulators via generalized canonical transformation." IEEE, 2004. http://hdl.handle.net/2237/6852.
Full textLiu, Kaiqiang. "Preliminary Development of a Multi-link Modular Robotic System for Improvement of Colonoscopy Intubation Process." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1430756935.
Full textSwain, Ryan C. "Stability and control of a two-link inverrted pendulum system with application to human trunk movement during walking." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0007/MQ41636.pdf.
Full textLanger, Franz Dieter. "Kinematic and rotational dynamics of multi-linkage systems and the control of a planar two-link system in the air /." The Ohio State University, 1986. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487266011224129.
Full textTunková, Martina. "Městské lázně." Master's thesis, Vysoké učení technické v Brně. Fakulta architektury, 2010. http://www.nusl.cz/ntk/nusl-215713.
Full textSHARMA, AJIT KUMAR. "POSITION CONTROL OF TWO LINK ROBOT SYSTEM BY PD & FUZZY CONTROLLER." Thesis, 2016. http://dspace.dtu.ac.in:8080/jspui/handle/repository/15008.
Full textANKITA, YADAV. "SLIDING MODE CONTROL WITH RBF NEURAL NETWORK FOR TWO LINK ROBOT MANIPULATOR AND AN INVERTED PENDULUM SYSTEM." Thesis, 2019. http://dspace.dtu.ac.in:8080/jspui/handle/repository/16970.
Full textReddy, Basireddy Sandeep. "A Study of Two Problems in Nonlinear Dynamics Using the Method of Multiple Scales." Thesis, 2015. http://etd.iisc.ac.in/handle/2005/3959.
Full textReddy, Basireddy Sandeep. "A Study of Two Problems in Nonlinear Dynamics Using the Method of Multiple Scales." Thesis, 2015. http://etd.iisc.ernet.in/2005/3959.
Full textYi-Yi, Lin, and 林益頤. "Smooth Control of a Two-Link Robot Manipulator." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/71793827486607483270.
Full text國立臺灣師範大學
機電工程學系
102
This paper presents two smooth control methods for the positioning of a two-link robot manipulator. The two-link robot manipulator is a coupled nonlinear system, and the so-called computed torque control method is employed to obtain a linear model. Then, the linear model is used to develop the smooth control methods. In mechanical systems, if jerk (i.e., the time derivative of acceleration) is too high, it may have adverse effects on the systems and even cause system instability. To avoid the problems with high jerk, jerk-constrained time-optimal control (JCTOC) method is proposed, which constrains the maximum admissible jerk and uses the time-optimal control (TOC) method to produce smooth but fast responses. Furthermore, snap-constrained time-optimal control (SCTOC) method is proposed to constrain the snap, which is the time derivative of jerk, for even smoother responses. In the experimental system, the control kernel is a DSP/FPGA system, and the C language and the VHDL are utilized as development tools for the control system. Experiments of the smooth control methods have been conducted and results show that the proposed smooth control methods are able to yield smoother and also faster responses than the conventional linear approach.
Lu, June-Wei, and 呂峻維. "System Integration and Planning of Parallel Link Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/12353976100910666949.
Full text龍華科技大學
工程技術研究所
101
In this thesis, the system of the international brand Panasonic's Parallel Link Robot HEXA600 multi-link robot arm is implemented by using the coordinates of a single point control for the moving parts that is PC-Based Motion Control, i.e., Servo Motion Control. The control of the entity layer is based on PLC (Programmable Logic Controller) to control the coordinates for the continuous path, and joined HMI (Human Machine Interface) as the top layer in order to facilitate the monitoring of field operations personnel to operate or to grasp the situation. The system is added with some electronic control components such as sensors hope to achieve complete control architecture to achieve a pneumatic gripper gripping socket to the PCB board into the positioning of the control continuous action. Through the actual test at customer plant, the operation of the machine can reach 0.5sec/pcs test speed for the test of motion of the pick and the place.
Zou, Jia-hong, and 鄒家弘. "Fuzzy Sliding-Mode Control of a Two-Link Robot Manipulator." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/50177842109222911594.
Full text國立雲林科技大學
機械工程系碩士班
97
Robotic manipulators have lots of actuators in each joint, and with nonlinear, coupling, variant parameters as characteristics. Arc and spot welding, spray painting, milling and drilling are some applications of robotic manipulators. For trajectory tracking, a scheme of adaptive fuzzy sliding-mode control is proposed in this thesis to deal with highly nonlinear dynamics of robotic manipulators. By using a simplified model, a nominal controller is obtained by pole placement design to specify ideal closed-loop dynamics. Then, an adaptive fuzzy compensator augmented with a sliding-mode disturbance observer (SDOB) compensates for system uncertainties and external disturbances. The SDOB ensures well transient performance and compensates well for unknown disturbances. As to the adaptive fuzzy compensator, it is used to model an unknown disturbance by the proposed adaptive law. When disturbance has been well modeled, the control system can efficiently compensate for the disturbance, avoiding the phase-lag problem associated with the SDOB. The proposed control scheme is verified by performing experimental studies on a two-link robotic manipulator tracking a circular trajectory. In the experimental setup, we utilized TI''s TMS320C6711 DSP with an FPGA (Field-Programmable Gate Array) as our control kernel. Implementing control laws, we employed the C/C++ language as a tool. Moreover, we establish an interface to two shaft encoders, ADCs and DACs using hardware description language (VHDL). The experimental results show that the proposed scheme improves the tracking performance and decreases the tracking error.
Bai, Kun-Sheng, and 白昆勝. "Two-Link Robot Robust Tracking Control with the KDC Scheme." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/08825557697326409416.
Full text中華大學
電機工程學系碩士班
93
In the study we consider the model of the robot from kinematical behavior to design the kinematical tracking controller by using the Lyapunov stability theorem. Dynamic model of the robot is studied with consideration of the model uncertainty. Since disturbances and uncertainties have effects only on the dynamical model, the dynamical and kinematical controllers are separately designed. Therefore, the KDC scheme in thesis, which integrates kinematical controller and robust dynamical tracking controllers. We attempt to combine the control and control to guarantee a robust tracking performance for robot control systems with uncertain.
Liao, Jian-Wei, and 廖建偉. "DSP Control System Design of the Four-Link Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/68848456070070716736.
Full text淡江大學
機械與機電工程學系碩士班
98
The objective of this thesis is to develop a four-link robot to crawl on a horizontal flat surface smoothly by the DSP chip. The robot is composed of four unequal-length links and three DC servo motors. The length of this robot is symmetric with respect to the second joint. The inside links are long, and outside links are short. The hardware of this system includes four-link mechanism, DC servo motors, motor drivers, encoders, digital signal process (DSP) board. The center of gravity (COG) of the robot is an important factor in the crawling processes. The robot is trained to crawl by the angles and the angular velocities of motors by using the ANN algorithm. The fuzzy theory is applied to design controller for the robot, which make the center of gravity (COG) of this robot maintain in the stable region. In the experiment process, the sequence of crawling behaviors of the four-link robot is designed and assigned by a developed software program in a PC. Then, the center of gravity (COG) of the robot is controlled to crawl stably by the artificial neural network (ANN) and the fuzzy theory. Finally, the developed robot is able to crawl smoothly on a horizontal flat surface.
Cheng, Feng-Ji, and 鄭峰吉. "Adaptive Control of a Rigid Two-link Robot Arm Including Friction." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/92057101363013814615.
Full text國立臺灣大學
機械工程學系研究所
84
In this thesis, a new friction model proposed by Canudas de Wit et al. in 1995 is adopted for the control system design of a two-link rigid robot undergoing low velocity motion. For completeness, the dynamic model includes link dynamics, DC motor dynamics, and friction dynamics. An input-output feedback linearization control law and an adaptive control law are developed to achieve the asymptotical tracking of the end effector of the robot arm. Because of the stability of the internal dynamics, the control law developed by input-output linearization can improve the tracking accuracy byincreasing gains. Adaptive control law, with unknown friction parameters, can also reduce the tracking error by increasing gains, which are however much less than those required by the input-output linearization approach. Numerical simulations are also performed to verify the effectiveness of the proposed control schemes and to study the characteristics of the closed-loop system.
Cheng, Ching-Wen, and 鄭景文. "Adaptive Fuzzy Sliding-Mode Control of a Two-Link Robot Manipulator." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/44257374354613801781.
Full text國立臺灣師範大學
機電科技研究所
99
A scheme of adaptive fuzzy sliding-mode control is proposed in this paper to deal with highly nonlinear dynamics of robotic manipulators for trajectory tracking. By using a simplified model, a nominal controller is obtained by pole placement design to specify ideal closed-loop dynamics. Then, an adaptive fuzzy compensator augmented with a sliding-mode disturbance observer (SDOB) compensates for system uncertainties and external disturbances. The SDOB ensures well transient performance and compensates well for unknown perturbation. In addition, the adaptive fuzzy compensator is used to model an unknown disturbance according to the proposed adaptive law. When the perturbation has been well modeled, the control system can efficiently compensate for the disturbance, avoiding the phase-lag problem associated with the SDOB. The experimental system for studies on a two-link robotic manipulator tracking a circular trajectory contains a DSP/FPGA system, which is the control kernel. We use C language and very-high-speed hardware description language (VHDL) as tools for developing a servo control system. The experimental results show that the proposed scheme improves the tracking performance and decreases the tracking error.
鄭士昌. "Optimization of two-robot-arm system." Thesis, 1990. http://ndltd.ncl.edu.tw/handle/82827589171225190972.
Full textChen, J. L., and 陳建良. "Feedback Linearization Control of a Two-link Robot Arm Using Neural Networks." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/30714072766911861446.
Full text逢甲大學
自動控制工程研究所
84
Control of a two-link robot arm is a typical example of nonlinear controlsysms. Feedback linearization is one of the techniques commonly applied forlinearizing nonlinear systems. However a mathematical model for the nonlinearsystem is required for applying this technique. In many cases exactmathematical models can not be easily obtained when the designed robot armparameters are not known. In this thesis, a backpropagation neural network wasdeveloped and was then trained by the input and output data of the nonlinearsystem. The neural network was usedas the feedback linearization element inthe control system. In the outer loop, a PID controller is applied forsetpoint control. In simulation the neural network was trained for a constant payload of 1 kg. The PID controller constants were selected for the system.Results have shown that the controller hasa satisfactory performance evenfor the payload tovary from0.5 kg to 1.5 kg.
Cheng, Pei-En, and 鄭百恩. "Adaptive Neural Network Sliding-Mode Control of a Two-Link Robot Manipulator." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/94761688242089911685.
Full text國立臺灣師範大學
機電科技學系
101
A scheme of adaptive neural network sliding-mode control is proposed in this paper to deal with highly nonlinear dynamics of robotic manipulators for trajectory tracking. By using a simplified model, a nominal controller is obtained by pole placement design to specify ideal closed-loop dynamics. Then, an adaptive neural network compensator augmented with a sliding-mode disturbance observer (SDOB) compensator for system uncertainties and external disturbances. The SDOB ensures well transient performance and compensates well for unknown perturbation. In addition, the adaptive neural network compensator is used to model an unknown perturbation according to the proposed adaptive law. When the perturbation has been well modeled, the control system can efficiently compensate for the perturbation, avoiding the phase-lag problem associated with the SDOB. The experimental system consists of a two-link robotic manipulator and a DSP/FPGA system, that is the control kernel. We employ the C language and VHSIC hardware description language (VHDL) as tools for developing a servo control system. The experimental results of tracking a circular trajectory show that the proposed scheme improves the tracking performance and decreases the tracking error.
Sharma, Shobhit. "Real-Time Visual Servo Control of Two-Link and Three DOF Robot Manipulator." Thesis, 2016. http://ethesis.nitrkl.ac.in/8567/1/2016_MT_711EE2130_Shobhit_Sharma.pdf.
Full textLohacharoenvanich, Nipaporn, and 劉美梅. "Research of Fuzzy Neural Network Control and its Application on Two-link Robot Manipulator." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/66737208384952319550.
Full text南台科技大學
機械工程系
96
This thesis presents the control system based on fuzzy neural network for the tracking control of robot manipulators. Two different approaches have been applied to two-link robot manipulator with the same reference inputs under external disturbances. One is the online adaptive controller, based on fuzzy neural networks combined with Proportional-Integral-Derivative controller (PID controller), while the other controller is based on sliding mode fuzzy neural networks. The learning algorithms of the two controllers are achieved based on Lyapunov theorem for guaranteeing the system-tracking stability. Computer simulation of the two-link robot manipulator is presented and demonstrates the robust tracking performance can be obtained. Furthermore, the root-mean-square errors are compared to show their advantages and disadvantages of each controller under uncertainties.
Lan, Shih-min, and 藍士閔. "Musical Notation Recognition System for Two-Wheeled Robot." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/54729351297367741062.
Full text國立臺灣科技大學
資訊工程系
97
For improvement of technique, the develop of robot become humanity and diversification. We create a musical notation recognition system by combining several techniques of image process. When robot reading the musical notation, the robot can sing the contents of musical notation in short time. In several recognition systems, the recognition result of musical notation has serious effect for skewing and warping. Our proposed recognition system would resolve this problem.
Lai, Li-Jun, and 賴岦俊. "Implementation and Behavior Control of a Two-on-Two Soccer Robot System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/39678804826834634723.
Full text國立雲林科技大學
電機工程系碩士班
90
This thesis shows the application of fuzzy theories on competition strategy of soccer robots. In the beginning, the hardware configuration, the image processing system, and the wireless radio transmission system of the soccer robot will be introduced. Then nine behavior control modes are proposed. Combining these nine modes and the proposed fuzzy algorithms, one can determine the competition strategy and the action that each soccer robot should take at every sampling time instant. To show the validity and feasibility of the proposed method, in addition to computer simulation, a two-on-two soccer robot game is also performed to give experimental results.
Shen, Wen-Ren, and 沈文仁. "Control of A One-Link Robot System Directly Driven by Permanent- Magnet Synchronous Motor." Thesis, 1998. http://ndltd.ncl.edu.tw/handle/31830204850168127083.
Full text國立中興大學
機械工程學系
86
In this thesis, a robust nonlinear controller is designed for a one-link robot system directly driven by a permanent magnet synchronous motor to achieve a desired position control. This nonlinear controller includes an asymptotic speed estimatorand a nonlinear control law that is obtained by using anintegrator backstepping method and a nonlinear dampingtechnique. Control parameters of the controller are separated into two groups. One group is used to achieve a nominal control objective and another group is used to achieve a robustness control objective to tolerate the system parameter change due to operating temperature. Values of controller parameters are automatically obtained by using a simply genetic algorithm with fitness functions that appropriately describe the control objectives. Computer simulation demonstrates the effectiveness and the feasibility of the designed robust nonlinear controller.
Nagaraj, B. P. "Dynamics Of Two Link Flexible Systems : Modelling And Experiments." Thesis, 1996. https://etd.iisc.ac.in/handle/2005/1697.
Full textNagaraj, B. P. "Dynamics Of Two Link Flexible Systems : Modelling And Experiments." Thesis, 1996. http://etd.iisc.ernet.in/handle/2005/1697.
Full textJhan, Jhih-Yuan, and 詹志元. "Development of Two-Wheeled Robot Motion Control System based on Dynamic Model." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/05289252550298594154.
Full text國立臺灣科技大學
自動化及控制研究所
97
Two-wheeled robot is inherently unstable. In order to achieve the self-balance and motion, we should use the feedback system to control the state variable. Consequently, two-wheeled robot’s control method is constantly been researched. According to some literature of two-wheeled robot of research, that is using the modern control to achieve the balance, motion and rotation control. In motion, which command position and velocity to attain the capability of movement. In process of motion, they expect the chassis to keep on upright position of ground. Actually, in motion of two-wheeled robot, which has initial acceleration causes the chassis fall down in other position. Consequently, the two-wheeled robot need to balance again, that is to lead to position and velocity has bad response. For these reason, this paper use the feed forward controller to transform the acceleration to the chassis tilt angle to improve the response of motion. In the end, the experiment of result of new method has good performance in transient response of movement.
Kao, Shao-Chuan, and 高劭銓. "Design of Control System for a Two-Wheeled Self-Balancing Mobile Robot." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/27917627776151408156.
Full text國立勤益科技大學
電子工程系
99
The objective of this thesis is to design and implement a two-wheeled self-balancing mobile robot. The entire system that is an embedded system used ATmega16 CPU as the control center. The inertial sensors, signal acquisition processing and motor control were integrated into the proposed system based on the PID control theory. In the control process, the self-balancing mobile system measured the angular velocity, tilt angle and acceleration of the robot platform using gyro sensor and accelerometers. In addition, the motor encoder was used to measure two motor rotation angle and angular velocity. According to the platform information received from the gyro sensor, accelerometers and motor encoder, the proposed system used the PID control for the control center calculation. Then, the output PWM signal is to control the rotation torque and speed of motor. The experimental results confirm that the proposed approach can achieve two-wheeled mobile robot in the balanced status.
Chio, E. L., and 邱奕郎. "Nonlinear Identification on Feedback Linearizatin Control of a Two-link Robot Manipulator-Radial Basis Function Method and Kolmogorov-Gabor Method." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/00066204874398313824.
Full text逢甲大學
自動控制工程研究所
84
This thesis studies two nonlinear identification methods, the radial basisfunction method and the Kolmogorov-Gabor polynomial method, applied on thecontrol of atwo-link robot manipulator. It is well known that two-link robotmanipulators are highly nonlinear systems. A feedback linearization method isapplied to linearize the system. After that, a PID controller is employed tocontrol the linearized system. In the linearization loop, nonlinear functionmust be given. Usually, these nonlinear functions are obtained by thederivation of the system model. In contrast, this thesis uses two nonlinearidentification methods to get these nonlinear functions without knowing thesystem parameters. Simulation results show that both nonlinear identificationmethods work well for the set-point control of robot manipulators. However, asimple decoupling test is performed and shows that the Kolmogorov-Gaborpolynomial method is better than the radial basis function method. This mayhint that, in many nonlinear identification methods, whether one can select amethod whose bases' functions are close to the nonlinear system is veryimportant.
Chen, Chun-Lung, and 陳俊隆. "Behavior-based Control System Design in FPGA for a Two-wheeled Autonomous Robot." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/73174665804043158662.
Full text淡江大學
機械與機電工程學系碩士班
95
In this research, we develop a two-wheeled autonomous robot system, which is composed of an upper-level PC-based vision processor, a middle-level FPGA-based motion controller, and a lower-level motor drive circuit. This motor drive circuit provides velocity and current feedback signals which are fed back to middle-level controller. In the middle-level, two robot motion controllers are deduced from the concepts of the system stability and the unit-mass control using Lyapunov’s direct method and inverse dynamics control, respectively. These two motion controllers are utilized to develop the behaviors for the autonomous robot. All the function modules of the motion controllers are devised with VHDL on the FPGA chip, including the modules of controller design, UART, position decoder, torques decoder, velocity feedback control, current feedback control, and PWM modules. The information of three-level processors is integrated in the PC-based processor and the integrated system is expected to perform different types of behavior on the two-wheeled autonomous robots.
Ho, Chuan-Chi, and 何全淇. "A case study of the CRIO Embedded System-The Vertical two-wheeled Robot." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/56578163520752339559.
Full text明新科技大學
精密機電工程研究所
100
In recent years, Embedded System has been widely used in various fields such as mobile phone applications and robot control. Hence, the purpose of this paper is to study the methods for using the Embedded System. This research uses the CompactRIO system developed by the National Instrument Corporation. CompactRIO is an open embedded architecture. Inside the system, there are Real-Time controller, FPGA chassis, and C-series modules. It is very easy to deploy the software to the real-time operating system of the CompactRIO, and let the control system work independently. The user can use a graphical LabVIEW tool to develop the FPGA program instead of using the lower level VHDL language. In this research, both the CompactRIO and LabVIEW are used to control a vertical two-wheeled robot. The vertical two-wheeled robot is an unstable system, which is very similar to the inverted pendulum problem and is a platform for verifying the control technology. This research has built a real-time control system to control the robot, which is a good example of the application of the CompactRIO.
Wang, Tsung-wei, and 王宗緯. "A Study of Immediate Updating System Parameters for Two-Wheeled Robot with Load Variation." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/j5rj2b.
Full text國立臺灣科技大學
材料科學與工程系
102
Two-wheeled robot is an inherently unstable system, it needs controller to meet the basic requirement, such as, balance and movement. Therefore, two-wheeled robot’s control method is constantly been researched. The study of two-wheeled robot is based on modern control with state feedback to achieve the balance and motion control. Two-wheeled robot can not move steadily while load is changed, because the system parameters have not update. In order to overcome the problem, using load cell sensor to get the mass of the inverted pendulum and using dynamic model to estimate the center of mass and the moment of inertia of the inverted pendulum. By updating the system parameters to adjust the control gain from pole placement controller to enhance its robustness. In the end, using experiments to verify its performance.
Huang, Yuh-Ren, and 黃裕仁. "Application of Multithread Control Technology to a Visual-tracing System for a Two-axle Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/05201790670409356117.
Full text高苑科技大學
機械與自動化工程研究所
96
The main purpose of this paper is to promote the efficiency of a control system by using a multithread digital control design. In this system, the management of a computer’s input and output information is handled appropriately by the program language to promote the efficiency when the computer is applied to treat all the information. The advantage of this multithread digital control design is to activate each procedure running simultaneously and reduce the process when using single-thread to execute events and wait in line. In this paper , case studies of multithread application used in image tracking and robot control are introduced. The multithread digital control design is used in the robotic arm’s tracking system of image capture and control output . To compare the multithread system with the single-thread system, the results reveal that the speed of the tracking system can be improved by using the multithread technique under an immediate procedure plan. Especially when the image tracing feedback is under control, there will be lots of data under process. That will be more necessary to apply this method in order to improve the system speed and accomplish the goal of this study, purpose that to reach the study.
Swain, Ryan C. "Stability and control of a two-link inverted pendulum system with application to human trunk movement during walking." 1999. http://hdl.handle.net/1993/1979.
Full text