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Unified Dynamics And Control Of A Robot Manipulator Mounted On A Vtol Aircraft Platform, Peng Xu
Unified Dynamics And Control Of A Robot Manipulator Mounted On A Vtol Aircraft Platform, Peng Xu
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An innovative type of mobile manipulator, designated Manipulator on VTOL (Vertical Take-Off and Landing) Aircraft (MOVA), is proposed as a potential candidate for autonomous execution of field work in less-structured indoor and outdoor environments. Practical use of the MOVA system requires a unified controller that addresses the coupled and complex dynamics of the composite system; especially the interaction of the robotic manipulator with the aircraft airframe. Model-based controller design methods require explicit dynamics models of the MOVA system. Preliminary investigation of a two-dimensional MOVA system toward a dynamics model and controller design is presented in preparation for developing the controller …
Control Techniques For Robot Manipulator Systems With Modeling Uncertainties, David Braganza
Control Techniques For Robot Manipulator Systems With Modeling Uncertainties, David Braganza
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This dissertation describes the design and implementation of various nonlinear control strategies for robot manipulators whose dynamic or kinematic models are uncertain. Chapter 2 describes the development of an adaptive task-space tracking controller for robot manipulators with uncertainty in the kinematic and dynamic models. The controller is developed based on the unit quaternion representation so that singularities associated with the otherwise commonly used three parameter representations are avoided. Experimental results for a planar application of the Barrett whole arm manipulator (WAM) are provided to illustrate the performance of the developed adaptive controller.
The controller developed in Chapter 2 requires the …