2026-09-19T08:33:50Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1186762022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Neville Hogan.
Thorup, Jessie
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2018-10-22T18:27:52Z
2018-10-22T18:27:52Z
2018
2018
http://hdl.handle.net/1721.1/118676
1057362581
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).
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.
by Jessie Thorup.
S.M.
142 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Inertia compensation of a planar robot for human upper limb interaction
Thesis
application/pdf
false
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="39a80676-f34c-48f6-ac0c-b43ab113b71c">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Inertia compensation of a planar robot for human upper limb interaction</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2018</PublicationDate>
<Authors>
<Author>
<DisplayName>Thorup, Jessie</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<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.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>