Thesis etd-02082022-113155 |
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Thesis type
Tesi di laurea magistrale
URN
etd-02082022-113155
Thesis title
Motion Control for Robots with Unknown Models
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
.
relatore Bicchi, Antonio
correlatore Grioli, Giorgio
correlatore Salaris, Paolo
correlatore Grioli, Giorgio
correlatore Salaris, Paolo
Keywords
- adaptive control
- dynamic control
- dynamic regressor
- Jacobian inversion
- kinematic control
- kinematic regressor
- unknown dynamics
- unknown kinematics
Graduation session start date
24/02/2022
Availability
Full
Abstract (Inglese)
Abstract (Italiano)
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.
File
| Nome file | Dimensione |
|---|---|
| Tesi_Pie...urini.pdf | 8.45 Mb |
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