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MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-redundant Robotic Arm

Xu, Xingsheng
http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589474272081458

Abstract Details

2020, Doctor of Philosophy (Ph.D.), University of Dayton, Electrical and Computer Engineering.
A multi-input multi-output (MIMO) direct adaptive torque controller with ε-modification;-modification is presented that uses a conventional fuzzy systems to provide end-effector motion task in work space for a class of hyper-redundant manipulators with uncertain dynamics. It is illustrated via both simulated and implemented examples that the MIMO adaptive controller, which drives the torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinematics and dynamics while executing motion control or tracking a reference in work space. In addition, it increases the robustness with respect to disturbances, sensor noise and insufficiently understood dynamics. We prove that the efficacy of our control algorithm affects the accuracy, stability and robustness of both motion control and path tracking. Also, an on-line task modification method (OTMM) is applied to achieve singularity avoidance for the hyper-redundant arm at the velocity level. It avoids the singularity on-line and waives off-line singularity avoidance path planning and the effort to check whether the singularity is escapable for the hyper-redundant manipulator.
Raul Ordonez (Committee Chair)
Vijayan Asari (Committee Member)
Malcolm Daniels (Committee Member)
Muhammad Usman (Committee Member)
Electrical Engineering
MIMO Adaptive Control; Hyper-redundant Robot; Fuzzy System

Recommended Citations

Citations

  • Xu, X. (2020). MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-redundant Robotic Arm [Doctoral dissertation, University of Dayton]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589474272081458

    APA Style (7th edition)

  • Xu, Xingsheng. MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-redundant Robotic Arm. 2020. University of Dayton, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589474272081458.

    MLA Style (8th edition)

  • Xu, Xingsheng. "MIMO Direct Adaptive Torque Control for Workspace Task of Hyper-redundant Robotic Arm." Doctoral dissertation, University of Dayton, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1589474272081458

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Dayton and OhioLINK.