Robot manipulators are getting more and more attention nowadays. This is due to their high precision and the speed they provide while executing their tasks. The desires for such high standards are increasing exponentially due to the extended workspace that manipulators provide. Therefore, a safe controller is needed to make it possible for the robot to work alongside people considering the safety precautions. These safety preconditions are widely spread, even when the needs for better human-friendly robots are rising. This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint space inverse dynamic controller. The controller will be tested in various different ways. Firstly by adding noise to the measured data. Then testing the robustness of the control model, while the simulated model includes properties different from those used for the controller itself. The different properties would for example be payloads and the inertia of the links. Thereafter, evaluating the precision of a followed path that is given by an operational space trajectory. The outcome of these experiments show promising results. The results show that the controller is able to manage a noise in both the joint angle and joint velocity. It also shows that an error in the payload data will give a small error in the joint angles, sequentially that gives an acceptable error for the end-effector in the operational space. Furthermore, the controller manages to keep the maximum errorin the joint angle low, while it is following a trajectory in the operational space.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-171928 |
| Date | January 2020 |
| Creators | Shuman, Ali Murtatha |
| Publisher | Linköpings universitet, Reglerteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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