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1
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.
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Ekrekli, 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.
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Bo, Xu, Kenji Fujimoto i Yoshikazu Hayakawa. "Control of two-link flexible manipulators via generalized canonical transformation". IEEE, 2004. http://hdl.handle.net/2237/6852.
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Liu, 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.
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Swain, 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.
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Langer, 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.
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Tunková, Martina. "Městské lázně". Master's thesis, Vysoké učení technické v Brně. Fakulta architektury, 2010. http://www.nusl.cz/ntk/nusl-215713.
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SHARMA, 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.
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This work is carried out to study the simulation of two link robot system using brushless DC motor drive. The main motivation is to perform kinematics, and position control of the robot in real - time. The graphical user interfaces (GUI) has been developed in Matlab. The GUI has been designed such that the user can feel forward kinematics of the 6-axis articulated robot. The system was developed for demonstrating the basic trajectory planning method for the position control of robot. Further the trajectory planning platform was tested for a particular experiment and was found to be accurate enough for experimental purposes.
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ANKITA, 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.
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Nonlinear control techniques are applied on two different mechanical systems namely two link robot manipulator and an inverted pendulum system to study the effect of the controllers on the tracking performance of the two system. A design of sliding mode control(SMC) for the position tracking of two link robot manipulator based on the sliding mode control technique and the Lyapunov stability theory is carried out to eliminate the perturbation and asymptotical stability can be achieved when the system is subjected to the sliding mode. A sliding mode control method based on RBF(radial basis function) neural network is addressed which has the capability of learning uncertain control actions shown by the several industrial robots. In RBFNN-SMC method the algorithm for tuning the parameters are extracted from the RBF function. The comparative study is done based on the evaluated parameters for the system. There are several practical applications like self-balancing robot, rocket propeller, Segway which are based on inverted pendulum. The control of inverted pendulum is carried out and a comparative analysis is made for the linear as well as the nonlinear model depending upon the two control techniques which are based on investigating the time, tracking error for obtaining the best performance for the inverted pendulum system. The implemented control techniques are the sliding mode control and the RBF neural network based adaptive sliding mode. Keeping the cart horizontal position and pendulum angle, to obtain the tracking performance the designed control law is subjected to different test signals and the results are shown for reduced chattering effect by using the above given controllers. A nonlinear SMC for position tracking control based on RBF neural network is also presented and the stability is given by the Lyapunov theorem.
10
Reddy, 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.
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This thesis deals with the study of two problems in the area of nonlinear dynamics using the method of multiple scales. Accordingly, it consists of two parts.
In the first part of the thesis, we explore the asymptotic stability of a planar two-degree- of-freedom robot with two rotary (R) joints following a desired trajectory under feedback control. Although such robots have been extensively studied and there exists stability and other results for position control, there are no analytical results for asymptotic stability when the end of the robot or its joints are made to follow a time dependent trajectory. The nonlinear dynamics of a 2R planar robot, under a proportional plus derivative (PD) and a model based computed torque control, is studied. The method of multiple scales is applied to the two nonlinear second-order ordinary deferential equations which describes the dynamics of the feedback controlled 2R robot. Amplitude modulation equations, as a set of four first order equations, are derived. At a fixed point, the Routh-Hurwitz criterion is used to obtain positive values of proportional and derivative gains at which the controller is asymptotically stable or indeterminate. For the model based control, a parameter representing model mismatch is incorporated and again controller gains are obtained, for a chosen mismatch parameter value, where the controller results in asymptotic stability or is indeterminate. From numerical simulations with gain values in the indeterminate region, it is shown that for some values and ranges of the gains, the non- linear dynamical equations are chaotic and hence the 2R robot cannot follow the desired trajectory and be asymptotically stable.
The second part of the thesis deals with the study of the nonlinear dynamics of a rotating flexible link, modeled as a one dimensional beam, undergoing large deformation and with geometric nonlinearities. The partial deferential equation of motion is discretized using a finite element approach to yield four nonlinear, non-autonomous and coupled ordinary deferential equations. The equations are non-dimensional zed using two characteristic velocities – the speed of sound in the material and a speed associated with the trans- verse bending vibration of the beam. The method of multiple scales is used to perform a detailed study of the system. A set of four autonomous equations of the first-order are derived considering primary resonance of the external excitation with one of the natural frequencies of the model and one-to-one internal resonance between two different natural frequencies of the model. Numerical simulations show that for certain ranges of values of these characteristic velocities, the slow flow equations can exhibit chaotic motions. The numerical simulations and the results are related to a rotating wind turbine blade and the approach can be used for the study of the nonlinear dynamics of a single link flexible manipulator. The second part of the thesis also deals with the synchronization of chaos in the equations of motion of the flexible beam. A nonlinear control scheme via active nonlinear control and Lyapunov stability theory is proposed to synchronize the chaotic system. The proposed controller ensures that the error between the controlled and the original system asymptotically go to zero. A numerical example using parameters of a rotating power generating wind turbine blade is used to illustrate the theoretical approach.
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Reddy, 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.
Pełny tekst źródłaStreszczenie:
This thesis deals with the study of two problems in the area of nonlinear dynamics using the method of multiple scales. Accordingly, it consists of two parts.
In the first part of the thesis, we explore the asymptotic stability of a planar two-degree- of-freedom robot with two rotary (R) joints following a desired trajectory under feedback control. Although such robots have been extensively studied and there exists stability and other results for position control, there are no analytical results for asymptotic stability when the end of the robot or its joints are made to follow a time dependent trajectory. The nonlinear dynamics of a 2R planar robot, under a proportional plus derivative (PD) and a model based computed torque control, is studied. The method of multiple scales is applied to the two nonlinear second-order ordinary deferential equations which describes the dynamics of the feedback controlled 2R robot. Amplitude modulation equations, as a set of four first order equations, are derived. At a fixed point, the Routh-Hurwitz criterion is used to obtain positive values of proportional and derivative gains at which the controller is asymptotically stable or indeterminate. For the model based control, a parameter representing model mismatch is incorporated and again controller gains are obtained, for a chosen mismatch parameter value, where the controller results in asymptotic stability or is indeterminate. From numerical simulations with gain values in the indeterminate region, it is shown that for some values and ranges of the gains, the non- linear dynamical equations are chaotic and hence the 2R robot cannot follow the desired trajectory and be asymptotically stable.
The second part of the thesis deals with the study of the nonlinear dynamics of a rotating flexible link, modeled as a one dimensional beam, undergoing large deformation and with geometric nonlinearities. The partial deferential equation of motion is discretized using a finite element approach to yield four nonlinear, non-autonomous and coupled ordinary deferential equations. The equations are non-dimensional zed using two characteristic velocities – the speed of sound in the material and a speed associated with the trans- verse bending vibration of the beam. The method of multiple scales is used to perform a detailed study of the system. A set of four autonomous equations of the first-order are derived considering primary resonance of the external excitation with one of the natural frequencies of the model and one-to-one internal resonance between two different natural frequencies of the model. Numerical simulations show that for certain ranges of values of these characteristic velocities, the slow flow equations can exhibit chaotic motions. The numerical simulations and the results are related to a rotating wind turbine blade and the approach can be used for the study of the nonlinear dynamics of a single link flexible manipulator. The second part of the thesis also deals with the synchronization of chaos in the equations of motion of the flexible beam. A nonlinear control scheme via active nonlinear control and Lyapunov stability theory is proposed to synchronize the chaotic system. The proposed controller ensures that the error between the controlled and the original system asymptotically go to zero. A numerical example using parameters of a rotating power generating wind turbine blade is used to illustrate the theoretical approach.
12
Yi-Yi, Lin, i 林益頤. "Smooth Control of a Two-Link Robot Manipulator". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/71793827486607483270.
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碩士國立臺灣師範大學
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.
13
Lu, June-Wei, i 呂峻維. "System Integration and Planning of Parallel Link Robot". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/12353976100910666949.
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碩士龍華科技大學
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.
14
Zou, Jia-hong, i 鄒家弘. "Fuzzy Sliding-Mode Control of a Two-Link Robot Manipulator". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/50177842109222911594.
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碩士國立雲林科技大學
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.
15
Bai, Kun-Sheng, i 白昆勝. "Two-Link Robot Robust Tracking Control with the KDC Scheme". Thesis, 2005. http://ndltd.ncl.edu.tw/handle/08825557697326409416.
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碩士中華大學
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.
16
Liao, Jian-Wei, i 廖建偉. "DSP Control System Design of the Four-Link Robot". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/68848456070070716736.
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碩士淡江大學
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.
17
Cheng, Feng-Ji, i 鄭峰吉. "Adaptive Control of a Rigid Two-link Robot Arm Including Friction". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/92057101363013814615.
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碩士國立臺灣大學
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.
18
Cheng, Ching-Wen, i 鄭景文. "Adaptive Fuzzy Sliding-Mode Control of a Two-Link Robot Manipulator". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/44257374354613801781.
Pełny tekst źródłaStreszczenie:
碩士國立臺灣師範大學
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.
19
鄭士昌. "Optimization of two-robot-arm system". Thesis, 1990. http://ndltd.ncl.edu.tw/handle/82827589171225190972.
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Chen, J. L., i 陳建良. "Feedback Linearization Control of a Two-link Robot Arm Using Neural Networks". Thesis, 1996. http://ndltd.ncl.edu.tw/handle/30714072766911861446.
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碩士逢甲大學
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.
21
Cheng, Pei-En, i 鄭百恩. "Adaptive Neural Network Sliding-Mode Control of a Two-Link Robot Manipulator". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/94761688242089911685.
Pełny tekst źródłaStreszczenie:
碩士國立臺灣師範大學
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.
22
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.
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This project presents experimental results of position-based visual servoing control process of a 3R robot using 2 fixed cameras. Visual servoing concerns several field of research including vision systems, robotics and automatic control. This method deal with real time changes in the relative position of the target-object with respect to robot. It is have good accuracy with independency of Manipulator servo control structure from the target pose coordinates are the additional advantages of this method. The applications of visually guided systems are many: from intelligent homes to automotive industry. Visual servoing are also useful for a wide range of applications and it can be used to control many different systems (manipulator arms, mobile robots, aircraft, etc.). Visual servoing systems are generally divide depends on the number of camera, on the position of the camera with respect to the robot, on the design of the error function to robot. This project presents an approach for visual robot control. Existing approaches are increased in such a way that depth and position information of block or object is estimate during the motion of the robot. That is done by the visual tracking of an object throughout the trajectory. Vision designed robotics has been a major research area for more time. However, one of the open and commonly problems in the area is the requirement for exchange of the experiences and ideas. We also include a number of real–time examples from our own research. Forward and inverse kinematics of 3 DOF robot have been done then experiments on image processing, object shape recognition and pose estimation as well as target-block or object in Cartesian system and visual control of robot manipulator have been prescribed. Experimental results obtained from real-time system implementation of visual servo control and tests of 3DOF robot in lab.
23
Lohacharoenvanich, Nipaporn, i 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.
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碩士南台科技大學
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.
24
Lan, Shih-min, i 藍士閔. "Musical Notation Recognition System for Two-Wheeled Robot". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/54729351297367741062.
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碩士國立臺灣科技大學
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.
25
Lai, Li-Jun, i 賴岦俊. "Implementation and Behavior Control of a Two-on-Two Soccer Robot System". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/39678804826834634723.
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碩士國立雲林科技大學
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.
26
Shen, Wen-Ren, i 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.
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碩士國立中興大學
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.
27
Nagaraj, B. P. "Dynamics Of Two Link Flexible Systems : Modelling And Experiments". Thesis, 1996. https://etd.iisc.ac.in/handle/2005/1697.
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Nagaraj, B. P. "Dynamics Of Two Link Flexible Systems : Modelling And Experiments". Thesis, 1996. http://etd.iisc.ernet.in/handle/2005/1697.
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Jhan, Jhih-Yuan, i 詹志元. "Development of Two-Wheeled Robot Motion Control System based on Dynamic Model". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/05289252550298594154.
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碩士國立臺灣科技大學
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.
30
Kao, Shao-Chuan, i 高劭銓. "Design of Control System for a Two-Wheeled Self-Balancing Mobile Robot". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/27917627776151408156.
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碩士國立勤益科技大學
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.
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Chio, E. L., i 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.
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碩士逢甲大學
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.
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Chen, Chun-Lung, i 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.
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碩士淡江大學
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.
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Ho, Chuan-Chi, i 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.
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碩士明新科技大學
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.
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Wang, Tsung-wei, i 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.
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碩士國立臺灣科技大學
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.
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Huang, Yuh-Ren, i 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.
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碩士高苑科技大學
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.
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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.
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The purpose of this study is to contribute to the development of a mathematical model in order to study the control mechanisms of human upper body movement during walking. The upper body, which consists of the pelvis and thorax, is modeled as a chain of inverted pendulums with one degree of rotational freedom each. The base point of the model corresponds to the bony landmark of the sacrum, and can move, two-dimensionally, in a specified way. A control law is developed in order to ensure the stability of the two-link pendulum system about the upright position. The control law is based on Lyapunov's stability theory and contains feedforward and linear feedback components. It is shown that the feedforward element of the controller is essential for the system stability, while the feedback component heavily influences the pattern in which the two-link inverted pendulum system moves about the upright position. Comparing the simulation results with measured results obtained in the Biomechanics Laboratory at the University of Manitoba it is shown that the mathematical model can effectively duplicate the motion patterns of the thorax and pelvis of a human. The results of the comparison make it possible to use the proposed mathematical model as a conceptual model in order to study the involvement of the central nervous system (CNS) in the performance of skilled voluntary motion such as walking.