碩士 / 國立海洋大學 / 機械與輪機工程學系 / 87 / In this study, we investigated the related problems of application of adaptive control algorithm on a tendon-driven underwater manipulator. The motion control problems of underwater vehicles or robotic systems are much more difficult than that in air. That is because the variations and complexity of the underwater environment increase more than that of regular environment in air. Adaptive control algorithm has the feature of causing a time-varying system to be stable by on-line estimating and updating the system parameters. To increase the robustness of the controlled system, we proposed the application of inertia-related adaptive control algorithm to an underwater manipulator. First, following the design rule of tendon-driven manipulator, we determined the key sizes of the manipulator such as the lengths of the links, the radii of the pulleys, and so on. Then we built and assembled an experimental prototype of a two-jointed tendon-driven manipulator. Next, the adaptive control and classical control algorithm were applied to the prototype, and the system performance was compared and analyzed. We also discussed the effects of non-estimated terms of the system. The experimental results showed that the adaptive controller behaved robustly by distributing the effects of non-estimated terms to other estimated parameters. In conclusion, through experiments we verified the validity of the adaptive control algorithm in application to the motion control of underwater manipulators, and its superiority to classical control algorithm.
| Identifer | oai:union.ndltd.org:TW/087NTOU0491015 |
| Date | January 1999 |
| Creators | whang chen fu, 黃清復 |
| Contributors | 林鎮洲 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 90 |
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