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Lewis, Jeremy
Languages: English
Types: Doctoral thesis
The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning head which moves a laser through a programmed path. Tip position is detected by an optical system which produces an error signal proportional to the displacement of the tip from the demand laser spot position. The error signal and its derivative form inputs to the arm 'slave' controller so enabling direct tip control with simultaneous correction for arm bending. Trajectory definition is not model-based as it is defined optically through movement of the positioning head alone.\ud \ud A critical investigation of vacuum tube and solid state sensing methods is undertaken leading to the development of a photodiode quadrant detector beam tracking system. The\ud effect of varying the incident light parameters on the beam tracker performance are examined from which the optimum illumination characteristics are determined.\ud \ud Operational testing of the system on a dual-axis prototype robot using the purpose-built beam tracker has shown that successful steady state tip control can be achieved through\ud a PD based slave controller. Errors of less than 0.05 mm and settling times of 0.2 s are obtained. These results compare favourably with those for the model-based tip position\ud correction strategies where tracking errors of ± 0.6 mm are recorded.
  • The results below are discovered through our pilot algorithms. Let us know how we are doing!

    • Positioning head performance testing 3.3.2 Exoskeleton Modifications Arm Joints Revolute Joints - Designs and Operating Principles 3.5.1 Multiple Laser/Sensor Combinations 3.5.2 Single Laser Designs
    • An 'in-line' joint using fibre optics
    • An 'in-line' joint using a beam splitting cube
    • The 'off-set' revolute joint
    • The Prismatic Joint 6.3 The Improved Single-Axis Robot
    • 6.3.1 Direct Analogue Proportional Control
    • 6.3.2 PD Control
    • 6.3.3 PID Control 6.4 The Improved Prototype - Performance
    • 6.4.1 PID Performance
    • 6.4.2 PD Performance
    • 6.4.3 A Comparison of PID and PD Tracking Performance
    • 6.4.4 The Improved Robot - Summary 6.5 The Dual-Axis Robot
    • 6.5.1 Control System Hardware 6.6 Step Response Tests
    • 6.6.1 PDF Control
    • 6.6.2 Step Response - Implementation
    • 6.6.3 Step Response - Conclusions 6.7 Simulation
    • 6.7.1 Simulation Results 6.8 Operational Performance
    • 6.8.1 Deflection Compensation
    • 6.8.2 Tracking Response
    • Tracking response - squares
    • Tracking response - circles
    • 6.8.3 Tracking Results - Analysis Summary References Lewis, J., Gill, R. & White, A.: 'Heavy load robot', Industrial Robot, Vo1.19, No.4, pp. 28-31, 1992.
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  • No similar publications.

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