The effectiveness of linear control of a planar manipulator is presented for
robot operation markedly exceeding the limits of linearity assumed in the design of
the linear controller. Wolovich's frequency domain pole placement algorithm is
utilized to derive the linear controller. The control scheme must include state
estimation since only link position is measured in the planar manipulator studied.
Extensive simulations have been conducted not only to verify the linear control
design but also to examine the behavior of the controlled system when inputs greatly
exceed those assumed for linear design. The results from these studies indicate the
linear model performs exactly as designed. The non-linear realistic simulation reveals
that the linear model results are obtained when the inputs do not exceed linearity
limits. However, when large inputs are applied, the nature of the system response
changes significantly. Regardless of the change in behavior, for the cases considered,
there was no instability detected and steady-state values were realized with
reasonable settling times which increased in length as the size of the inputs were
increased. From the simulation results, it is concluded that the linear controller
scheme studied is suitable for use in moving objects from one position to another but
would not work well in the rapid drawing of lines and curves. / Graduation date: 1992
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/36715 |
| Date | 05 June 1991 |
| Creators | Doustmohammadi, Ali |
| Contributors | Saugen, John L. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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