Inertia compensation of a planar robot for human upper limb interaction
Name
1057362581-MIT.pdf
Description
Full printable version
Size
8.58 MB
Format
Adobe PDF
Checksum (MD5)
4cd5de0f0036cc98564979c463c01b7e
Author(s)
Thorup, Jessie
Advisor(s)
Neville Hogan.
Date Issued
2018
Publisher
Massachusetts Institute of Technology
Abstract
This thesis documents the development of software and a control system for the InMotion2 planar robot. Software was developed to provide sensor input processing from the robot encoders and force/torque transducer, and output processing for the robot motors. A controller scheme was developed to compensate for the natural robot configuration-based inertia as well as friction and un-modeled dynamics. The inertia compensator was designed using an inertial admittance model and a nonlinear robust adaptive tracking controller based on sliding mode control. A hybrid control mode was developed in which impedance control was used to enforce a virtual constraint and inertia compensation acted along the constraint. The controller proved to be stable throughout testing and provide the desired inertia. The accuracy of the inertia compensation was within human perception limits for modest inertia references.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 139-142).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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