Print Email Facebook Twitter Polishing robot: vibrations due to impact Title Polishing robot: vibrations due to impact: To simulate and correct unwanted behavior Author Postma, Louise (TU Delft Electrical Engineering, Mathematics and Computer Science; TU Delft Delft Institute of Applied Mathematics) Contributor Heemink, Arnold (mentor) Gotthardt, Titus (mentor) Möller, Matthias (graduation committee) van der Woude, Jacob (graduation committee) Degree granting institution Delft University of Technology Date 2017-06-30 Abstract The specific issue researched in this thesis is correcting some inaccuracies that occur when the robot is polishingcertain shapes. The biggest challenge is to mathematically describe this phenomenon in order to findan appropriate correction. Since there are a lot of influences in the process (friction, movement, impact, degreesof freedom) this is very difficult to describe. The main topic of this thesis is therefore the descriptionand simulation of this problem. The research question defined is: what is causing the jumping of the polishingtool in specific situations on non-flat surfaces and how can this be prevented?The problem has multiple challenges due to combining a rotating movement with degrees of freedom in thelateral movement. The cause that has been found with the simulations is the flexibility in the spindle andthe airbearing of the polishing robot. Together with resultant forces, caused by the rotation of the tool and acertain angle of elevation of the material, the flexibility causes the tool to jump in all directions. The goal ofthese simulations is to acquire data that describes the problem phenomenon. When the realistic data of thesimulation is known a correction method is proposed and first simulated.The method tested to correct this is a static state feedback where the controller is found by minimizing theH-infinity norm. The results show that this type of controller and feedback can decrease the jumping to 0-10 %of the original displacements. This correction is still theoretical, but actual physical solutions can be implementedto test if it could solve the problem. Subject mathematical modelpolishing robotLMIfeedback controller To reference this document use: http://resolver.tudelft.nl/uuid:d40d1135-5ddb-420b-b5a9-4b30500ae805 Part of collection Student theses Document type master thesis Rights © 2017 Louise Postma Files PDF Thesis_mlpostma.pdf 6.44 MB Close viewer /islandora/object/uuid:d40d1135-5ddb-420b-b5a9-4b30500ae805/datastream/OBJ/view