In the last decades, the quantity of robot applications has increased enormously in various
areas of operation. Their advantages like automation and accuracy are interesting for health
care, as well. Besides of surgery and patient transportation, robots can be used for therapy,
too.
This master thesis presents an analytical model of a hydraulic hexapod robot, which is
intended to be used as a gait trainer in a rehabilitation application. In order to prove the
model, a measurement of all actuators is performed. They prove the linear plant characteristic
caused by an installed pressure compensator. Consequently, a suitable decoupled state
space control and an observer are developed and simulated. Considering the velocity and
the control effort, the feedforward linear-quadratic state space controller shows the best
system performance. The tests permit a model simplification and exhibit the negligible
influence of small loads. The potential of the hexapod robot has to be considered regarding
the further development of the periphery. Doing so, the presented controller can be
implemented and the robot can be used in many areas. / Tesis
| Identifer | oai:union.ndltd.org:PUCP/oai:tesis.pucp.edu.pe:123456789/8138 |
| Date | 09 March 2017 |
| Creators | Bodenstein, Fabian |
| Contributors | Tafur Sotelo, Julio César, Ströhla, Tom |
| Publisher | Pontificia Universidad Católica del Perú |
| Source Sets | Pontificia Universidad Católica del Perú |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Format | application/pdf |
| Source | Pontificia Universidad Católica del Perú, Repositorio de Tesis - PUCP |
| Rights | info:eu-repo/semantics/restrictedAccess |
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