Modelling and control of constrained robot systems with uncertainties in the constraint functions

Constrained robot motion control is a special class of robot control where both the trajec-tory and the contact force have to be considered. For effective control of this class of robot systems, we need to consider the robot dynamics and the constraining environments as inte-grated constrained robot...

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Main Author: Ho, Yeong Khing.
Other Authors: Wang, Dan Wei
Format: Theses and Dissertations
Published: 2010
Subjects:
Online Access:http://hdl.handle.net/10356/38987
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Institution: Nanyang Technological University
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spelling sg-ntu-dr.10356-389872023-07-04T15:27:21Z Modelling and control of constrained robot systems with uncertainties in the constraint functions Ho, Yeong Khing. Wang, Dan Wei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Constrained robot motion control is a special class of robot control where both the trajec-tory and the contact force have to be considered. For effective control of this class of robot systems, we need to consider the robot dynamics and the constraining environments as inte-grated constrained robot dynamics. In this thesis, a model for the constrained robot dynam-ics, incorporating constraint uncertainties is developed. The algebraic constraint functions represent the rigid constraining surfaces. The uncertain terms in the constraint functions explicitly account for the constraint uncertainties. The uncertainties reflect the inaccuracy in the descriptions of the constraining surfaces. It is shown in the analysis that the constraint uncertainties influence the robot dynamics, giving rise to the need to take into considerations these uncertainties in controlling the constrained robots. The modelling is extended to deal with stiff environments where deformations of surfaces occur when a robot interacts with the environments. The surface deformations are treated as uncertainties in the constraint functions describing the nominal surfaces. Doctor of Philosophy (EEE) 2010-05-21T03:38:51Z 2010-05-21T03:38:51Z 1997 1997 Thesis http://hdl.handle.net/10356/38987 NANYANG TECHNOLOGICAL UNIVERSITY 143 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Ho, Yeong Khing.
Modelling and control of constrained robot systems with uncertainties in the constraint functions
description Constrained robot motion control is a special class of robot control where both the trajec-tory and the contact force have to be considered. For effective control of this class of robot systems, we need to consider the robot dynamics and the constraining environments as inte-grated constrained robot dynamics. In this thesis, a model for the constrained robot dynam-ics, incorporating constraint uncertainties is developed. The algebraic constraint functions represent the rigid constraining surfaces. The uncertain terms in the constraint functions explicitly account for the constraint uncertainties. The uncertainties reflect the inaccuracy in the descriptions of the constraining surfaces. It is shown in the analysis that the constraint uncertainties influence the robot dynamics, giving rise to the need to take into considerations these uncertainties in controlling the constrained robots. The modelling is extended to deal with stiff environments where deformations of surfaces occur when a robot interacts with the environments. The surface deformations are treated as uncertainties in the constraint functions describing the nominal surfaces.
author2 Wang, Dan Wei
author_facet Wang, Dan Wei
Ho, Yeong Khing.
format Theses and Dissertations
author Ho, Yeong Khing.
author_sort Ho, Yeong Khing.
title Modelling and control of constrained robot systems with uncertainties in the constraint functions
title_short Modelling and control of constrained robot systems with uncertainties in the constraint functions
title_full Modelling and control of constrained robot systems with uncertainties in the constraint functions
title_fullStr Modelling and control of constrained robot systems with uncertainties in the constraint functions
title_full_unstemmed Modelling and control of constrained robot systems with uncertainties in the constraint functions
title_sort modelling and control of constrained robot systems with uncertainties in the constraint functions
publishDate 2010
url http://hdl.handle.net/10356/38987
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