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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-02082022-113155


Tipo di tesi
Tesi di laurea magistrale
Autore
VENTURINI, PIETRO
URN
etd-02082022-113155
Titolo
Motion Control for Robots with Unknown Models
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Bicchi, Antonio
correlatore Grioli, Giorgio
correlatore Salaris, Paolo
Parole chiave
  • adaptive control
  • dynamic control
  • dynamic regressor
  • Jacobian inversion
  • kinematic control
  • kinematic regressor
  • unknown dynamics
  • unknown kinematics
Data inizio appello
24/02/2022
Consultabilità
Completa
Riassunto
In this thesis, kinematic and dynamic adaptive control in the case of unknown kinematic and dynamic structure of robotic systems was investigated. The main work involved defining a new type of kinematic inversion scheme in the case of trajectory control that would remove the need for a Jacobian with full row rank for convergence purposes. As further work, a method for constructing kinematic and dynamic regressors for robot systems whose structure is unknown is presented. Finally, simulations are presented that demonstrate the effectiveness of the developed kinematic control applied to robotic systems with unknown kinematic and dynamic structure.
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