This thesis considers the development of an accurate dynamic model for two industrial manipulators. The accuracy of available instrumentation for recording sensor-motion data required the application of practical methods for improving the estimation bounds. This thesis presents some methods for improving the estimation accuracy of the reduced order dynamic model, particularly with regard to the importance of a correct formulation for the base parametric set and the dependance of parameter estimation accuracy on the torque sensitivity. / The thesis also experimentally implement an algorithm for trajectory optimization for estimation by the LMS adaptive law. Practical methods are suggested for carrying out the optimization. / Results are presented based on experimentation conducted on an electric and a hydraulic manipulator; a brief description is also provided on the software that was developed for this purpose. Identification results in one case were seen to closely approximate those previously determined by explicit measurements by Khatib et al. Finally, a comparison between ordinary PD control and feedforward control using the available model shows the promise of actual ability to implement model based control. However, a comparison of the results of the control performance between a direct drive manipulator and a geared manipulator indicate that unmodelled dynamics play a central role in increasing the error bounds of the identified parmeters. (Abstract shortened by UMI.)
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.22655 |
| Date | January 1995 |
| Creators | Kapadia, Behram |
| Contributors | Daneshmend, L. K. (advisor) |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Electrical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001461751, proquestno: MM05454, Theses scanned by UMI/ProQuest. |
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