This thesis is a step towards the model-based control of two redundant robots. In the first part of the thesis, a method is presented for autonomous kinematic calibration of a 3-DOF redundant parallel robot. Multiple closed loops are used in a least squares optimization method. Some numerical methods such as column scaling of the gradient matrix and observability indices for the best pose set of robot calibration configurations are discussed. Four observability indices are considered analytically, geometrically, and experimentally. Two of these indices are presented for the first time. The fourth observability index is proved to be the unique criterion for the best pose set in robot calibration. Experimental results are compared with the results obtained using an external calibration device. / In the second part of the thesis, dynamics and friction modeling of the Utah/MIT Dextrous Hand is sought. These models along with actuator model are used in a low level model based force control. It is shown that tendon dynamics does not affect the control performance. On the other hand, it is shown that friction is a major factor which should not be neglected in the force control. The improvements achieved by the feed-forward terms are illustrated. Actuator saturation is rigorously investigated. It is shown that the maximum force bandwidth before the occurrence of saturation is 10 Hz.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.22667 |
| Date | January 1994 |
| Creators | Nahvi, Ali |
| Contributors | Hollerbach, John M. (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 Mechanical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001461754, proquestno: MM05466, Theses scanned by UMI/ProQuest. |
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