Print Email Facebook Twitter Smart Motions: Reducing the effect of parameter uncertainties during feedforward control of a robotic manipulator Title Smart Motions: Reducing the effect of parameter uncertainties during feedforward control of a robotic manipulator Author De Vries, M. Contributor Van der Helm, F.C.T. (mentor) Wisse, M. (mentor) Plooij, M.C. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department BioMechanical Engineering Programme BMD Date 2012-08-30 Abstract The performance of a feedforward controller depends on the accuracy of the internal model used for generating the control action. In this research we focus on the influence of parameter uncertainty on the performance of a feedforward controller. A simulation study is performed on a one and two D.O.F. planar robotic arm to improve the open-loop performance given an internal model with parameter uncertainty. Subject feedforwardmodel uncertaintyoptimisation To reference this document use: http://resolver.tudelft.nl/uuid:75bc2112-59c6-4818-abfe-e601331cece3 Embargo date 2014-08-30 Part of collection Student theses Document type master thesis Rights (c) 2012 De Vries, M. Files PDF Thesis_Michiel_de_Vries.pdf 5.81 MB Close viewer /islandora/object/uuid:75bc2112-59c6-4818-abfe-e601331cece3/datastream/OBJ/view