Print Email Facebook Twitter Control of a macro-micro actuated system Title Control of a macro-micro actuated system Author Choi, K.S. Contributor Babuska, R. (mentor) Wisse, M. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control Date 2010-08-24 Abstract TU Delft Bio-Robotics Lab. developed a new type of robotic arm, called a macro-micro actuated system for the inherent safety characteristics in human-interaction environment. The macro-micro actuated system is equipped with a macro actuator and a micro actuator which works together to control one joint angle. The macro actuator is connected to the link through a low stiffness spring, and the micro actuator is directly connected to the link. This was designed successfully to have the inherent safety of the robot arm. However, there remains the challenge of controlling the manipulator to possess the inherent safety with high-bandwidth performance and robustness, when the robot arm performs pick-and-place work of an unknown mass. In this paper, first, the macro-micro actuated system of the Delft robot arm is introduced. Second, the control challenge to have safety with high-bandwidth performance is discussed along with possible control schemes for their successful implementation. In the chosen control scheme, Balancing/Tracking mode, the macro part is controlled to compensate for gravity and the micro part is controlled to realize the desired trajectory. Third, a feedback linearization method with a sliding mode algorithm and an indirect adaptive algorithm is surveyed to decrease nonlinearities of the system and to have robustness. For a fast estimation of an unknown variable and simplicity of a control algorithm, the sliding mode algorithm is applied to the chosen control scheme with the feedback linearization method. Finally, the Balancing/Tracking scheme with the feedback linearization method and the sliding mode algorithm is proposed as the controller of the macro-micro actuated s ystem. To reference this document use: http://resolver.tudelft.nl/uuid:a08bf0ef-fc81-4d43-a4d8-f25ca9990b10 Part of collection Student theses Document type master thesis Rights (c) 2010 Choi, K.S. Files PDF mscThesis.pdf 1.89 MB Close viewer /islandora/object/uuid:a08bf0ef-fc81-4d43-a4d8-f25ca9990b10/datastream/OBJ/view