ETD system

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Tesi etd-11052015-001243


Thesis type
Tesi di laurea specialistica
Author
DI NAPOLI, GIUSEPPE
URN
etd-11052015-001243
Title
Design, simulation and development of a decentralized control for a robotic manipulator
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Avizzano, Carlo Alberto
correlatore Ing. Ruffaldi, Emanuele
correlatore Ing. Filippeschi, Alessandro
tutor Ing. Tanzini, Matteo
controrelatore Prof. Pollini, Lorenzo
Parole chiave
  • manipulator
  • control
  • hybrid
  • decentralized
Data inizio appello
26/11/2015;
Consultabilità
completa
Riassunto analitico
The objective of this thesis is to design, develop and test a decentralized control for the YouBot.<br>This robot is composed by an omnidirectional mobile platform on which a five – axis robot arm with a two – finger gripper is installed.<br>In the first step the YouBot arm’s performance is analysed and the problems are verified and mentioned by the community.<br>The stat of the art is assessed.<br>The available hardware and software is analysed, as well as the temporal performances, the responses of the system, the optimal sampling time and the torque characterization.<br>Subsequently the COM (center of mass) for each link, is estimated, through a least squares algorithm, and the gravity compensation is implemented.<br>After this a hybrid motion/force decentralized control based on Newton – Eulero dynamics is realized.<br>The control algorithm is tested in simulation and on the real Youbot Manipulator. The obtained results have been analyzed and discussed.<br>
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