Tesi etd-01262024-112002 |
Link copiato negli appunti
Tipo di tesi
Tesi di laurea magistrale
Autore
INCERPI, RICCARDO
URN
etd-01262024-112002
Titolo
Theoretical development and experimental validation of a hierarchical optimization based controller
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Garabini, Manolo
relatore Prof. Angelini, Franco
relatore Prof. Angelini, Franco
Parole chiave
- hierarchical optimization
- MPC
- robotic control
Data inizio appello
20/02/2024
Consultabilità
Tesi non consultabile
Riassunto
The study presents a control approach based on a Hierarchical Optimization Mul-
tiple Shooting algorithm to prevent drivers overheating in robotic redundant ma-
nipulators. Using this method we are able to include temperature dynamics and inequality constraints on the maximum temperature of the drivers in the control equations.
By taking advantage of its redundancy, the manipulator is able to change
its configuration over time to maintain the desired position and to respect the tem-
perature constraints. The presented framework is implemented and tested on a
manipulator made up of links designed in the Research Center E.Piaggio, Univer-
sity of Pisa.
tiple Shooting algorithm to prevent drivers overheating in robotic redundant ma-
nipulators. Using this method we are able to include temperature dynamics and inequality constraints on the maximum temperature of the drivers in the control equations.
By taking advantage of its redundancy, the manipulator is able to change
its configuration over time to maintain the desired position and to respect the tem-
perature constraints. The presented framework is implemented and tested on a
manipulator made up of links designed in the Research Center E.Piaggio, Univer-
sity of Pisa.
File
| Nome file | Dimensione |
|---|---|
Tesi non consultabile. |
|