A dead beat controller and least squares parameter estimator for a three joint robot arm

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dc.contributor.advisorPearson, J. B.
dc.contributor.committeeMemberKohn, Wolf
dc.contributor.committeeMemberBriggs, Faye A.
dc.creatorBarry, Patricia A.
dc.date.accessioned2018-12-18T21:23:25Z
dc.date.available2018-12-18T21:23:25Z
dc.date.issued1985
dc.description.abstractA servo-controller is developed for a three joint manipulator. The servo-controller consists of a dead beat controller and an on-line parameter estimator. The dead beat controller is implemented in four steps. A piecewise linear model is calculated on line. Simultaneous diagonalization of the stiffness and inertia matrices is performed after linearization. A control vector for the linearized, diagonalized system is generated at a faster rate. The control vector is transformed from the diagonalized mode to the real mode via multiplication by a transformation matrix. The parameter estimator is a least' squares estimator designed to estimate the stiffness parameters in the diagonalized mode. The parameter estimator iteratively estimates the eigenvectors and eigenvalues associated with the stiffness parameters. The parameter estimator converges too slowly to meet the design requirements. The controller, however, provides an acceptable tracking error* and is robust enough to use without the parameter estimator.
dc.format.digitalOriginreformatted digital
dc.format.extent94 pp
dc.identifier.callnoTHESIS E.E. 1985 BARRY
dc.identifier.citationBarry, Patricia A.. "A dead beat controller and least squares parameter estimator for a three joint robot arm." (1985) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/104456">https://hdl.handle.net/1911/104456</a>.
dc.identifier.digitalRICE2091
dc.identifier.urihttps://hdl.handle.net/1911/104456
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.titleA dead beat controller and least squares parameter estimator for a three joint robot arm
dc.typeThesis
dc.type.materialText
thesis.degree.departmentElectrical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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