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

Simple item page
dc.contributor.advisorPearson, J. B.en_US
dc.contributor.committeeMemberKohn, Wolfen_US
dc.contributor.committeeMemberBriggs, Faye A.en_US
dc.creatorBarry, Patricia A.en_US
dc.date.accessioned2018-12-18T21:23:25Zen_US
dc.date.available2018-12-18T21:23:25Zen_US
dc.date.issued1985en_US
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.en_US
dc.format.digitalOriginreformatted digitalen_US
dc.format.extent94 ppen_US
dc.identifier.callnoTHESIS E.E. 1985 BARRYen_US
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>.en_US
dc.identifier.digitalRICE2091en_US
dc.identifier.urihttps://hdl.handle.net/1911/104456en_US
dc.language.isoengen_US
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.en_US
dc.titleA dead beat controller and least squares parameter estimator for a three joint robot armen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentElectrical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
RICE2091.pdf
Size:
2.08 MB
Format:
Adobe Portable Document Format
Download
Collections
Rice University Theses and Dissertations