Advanced Control Strategies for a 6 DoF Hydraulic Parallel Robot Based on the Dynamic Model

Puglisi, Lisandro José (2016). Advanced Control Strategies for a 6 DoF Hydraulic Parallel Robot Based on the Dynamic Model. Thesis (Doctoral), E.T.S.I. Industriales (UPM). https://doi.org/10.20868/UPM.thesis.39544.

Description

Title: Advanced Control Strategies for a 6 DoF Hydraulic Parallel Robot Based on the Dynamic Model
Author/s:
  • Puglisi, Lisandro José
Contributor/s:
  • Saltaren Pazmiño, Roque Jacinto
  • García Cena, Cecilia Elisabet
Item Type: Thesis (Doctoral)
Date: 2016
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (8MB) | Preview

Abstract

Nowadays robots have made their way into real applications that were prohibitive and unthinkable thirty years ago. This is mainly due to the increase in power computations and the evolution in the theoretical field of robotics and control. Even though there is plenty of information in the current literature on this topics, it is not easy to find clear concepts of how to proceed in order to design and implement a controller for a robot. In general, the design of a controller requires of a complete understanding and knowledge of the system to be controlled. Therefore, for advanced control techniques the systems must be first identified. Once again this particular objective is cumbersome and is never straight forward requiring of great expertise and some criteria must be adopted. On the other hand, the particular problem of designing a controller is even more complex when dealing with Parallel Manipulators (PM), since their closed-loop structures give rise to a highly nonlinear system. Under this basis the current work is developed, which intends to resume and gather all the concepts and experiences involve for the control of an Hydraulic Parallel Manipulator. The main objective of this thesis is to provide a guide remarking all the steps involve in the designing of advanced control technique for PMs. The analysis of the PM under study is minced up to the core of the mechanism: the hydraulic actuators. The actuators are modeled and experimental identified. Additionally, some consideration regarding traditional PID controllers are presented and an adaptive controller is finally implemented. From a macro perspective the kinematic and dynamic model of the PM are presented. Based on the model of the system and extending the adaptive controller of the actuator, a control strategy for the PM is developed and its performance is analyzed with simulation.

More information

Item ID: 39544
DC Identifier: http://oa.upm.es/39544/
OAI Identifier: oai:oa.upm.es:39544
DOI: 10.20868/UPM.thesis.39544
Deposited by: Archivo Digital UPM 2
Deposited on: 28 Mar 2016 07:45
Last Modified: 11 Oct 2018 08:24
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM