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Tesi etd-09032017-092217


Thesis type
Tesi di laurea magistrale
Author
CENTENI ROMANI, ENRICO
URN
etd-09032017-092217
Title
STUDIO TEORICO SUL CONTROLLO OTTIMO IN TEMPO REALE DI UN SISTEMA NON LINEARE E APPLICAZIONE SPERIMENTALE AD UN BRACCIO ROBOTICO CON ATTUATORI ELASTICI
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Bicchi, Antonio
Parole chiave
  • nonlinear optimal control
  • optimal control
  • optimization
  • elastic actuators
  • robotics
Data inizio appello
28/09/2017;
Consultabilità
Completa
Riassunto analitico
We presented a method for obtaining numerical solutions of optimal control
problems (OCP) for systems of ordinary differential equations with possible appli-
cations in dynamic tasks in combination with predictive control algorithms based
on the model. The method is intended for applications that require the resolution
of OCP in a short time and can efficiently exploit the prior knowledge ( obtained
for example by the application of the Principle of Maximum) of control’s arcs by
determining their length and sequence.
The presented method has been applied in simulation and to a real prototype
of planar robotic manipulator with two degrees of freedom with elastic joints.
Experimentally it was obtained that the system in the tested configuration is
able to reach a speed higher than double that attainable without elastic joints .
The approach with predictive control enables a reduction of the error on the desired
final pose of the robot up to 10 times compared to about an experiment conducted
with control in open loop.
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