Modelling, simulation, and control of robots

Simple item page
dc.contributor.advisorPearson, J. Boyd
dc.creatorChatterjee, Trinanjan
dc.date.accessioned2009-06-04T00:00:55Z
dc.date.available2009-06-04T00:00:55Z
dc.date.issued1989
dc.description.abstractThe continuous dynamic model of a robot is represented by nonlinear coupled differential equations. These can be discretized using first or second order Taylor's series approximations. One such model, the Greenspan Discrete Mechanics model appears to be the best for control applications. Global linearization of this model is straightforward and the linearized model is used to design $l\sp1$ optimal controllers for the robot. The Multi Input Multi Output optimization problem splits up into decoupled Single Input Single Output problems which are individually solved. Optimal systems thus designed are simulated and compared to traditional robot controllers. Simulations confirm the $l\sp1$ optimality of the controllers. This thesis thus provides a useful new tool for the robot control engineer.
dc.format.extent122 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoTHESIS E.E. 1989 CHATTERJEE
dc.identifier.citationChatterjee, Trinanjan. "Modelling, simulation, and control of robots." (1989) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13349">https://hdl.handle.net/1911/13349</a>.
dc.identifier.urihttps://hdl.handle.net/1911/13349
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectElectronics
dc.subjectElectrical engineering
dc.titleModelling, simulation, and control of robots
dc.typeThesis
dc.type.materialText
thesis.degree.departmentElectrical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
1338740.PDF
Size:
2.51 MB
Format:
Adobe Portable Document Format
Download
Collections
Rice University Electronic Theses and Dissertations
ECE Theses and Dissertations