In this thesis, a controller based on the navigation function and prescribed performance control concepts for controlling the absolute and the relative position of the end-e ffectors of a dual arm manipulator is proposed. The end-e ffectors of the dual arm manipulator are considered as sphere agents being assigned with a desired position (absolute position) and a desired formation vector (relative position). The objective is to guarantee convergence of the end-e ffectors to the desired position as well as the evolution of the end-e ffectors’ formation error within prescribed transient bounds. The main contribution is the combination of conventional navigation functions that enable the system to satisfy position based constraints, such as collision avoidance, with the prescribed performance control methodology that imposes, time-dependent constraints for the relative position of the ende ffectors. The controller is designed in order to guarantee coherence of the two concepts and achieve the two-fold objective. Simulation and experimental results illustrate the e ffectiveness of the proposed scheme.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:kth-138030 |
| Date | January 2013 |
| Creators | MUSTEFA, DINSEFA |
| Publisher | KTH, Skolan för datavetenskap och kommunikation (CSC) |
| 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 |
| Relation | Trita-CSC-E, 1653-5715 ; 13:115 |
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