Thesis etd-01262024-112002 |
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Thesis type
Tesi di laurea magistrale
Author
INCERPI, RICCARDO
URN
etd-01262024-112002
Thesis title
Theoretical development and experimental validation of a hierarchical optimization based controller
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Garabini, Manolo
relatore Prof. Angelini, Franco
relatore Prof. Angelini, Franco
Keywords
- hierarchical optimization
- MPC
- robotic control
Graduation session start date
20/02/2024
Availability
None
Summary
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.
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