Author

Anteneh Haile

Publication Date

1992

Document Type

Dissertation/Thesis

First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Department

Department of Electrical Engineering

LCSH

Manipulators (Mechanism)||Feedback (Electronics)||Robots--Control systems

Abstract

Coordinated motion control of two or more manipulators has attracted research interest. Multi-link manipulators have nonlinear and strongly coupled dynamics. The manipulator can be linearized and decoupled by using nonlinear feedback. The main problem in feedback linearization is the variation of process parameters. The research in this thesis shows how adaptive control techniques can be used to overcome parameter variation. The steepest descent method is used for adjusting parameters in the non-linear feedback loop. Once the system is linearized adaptively, the controller for the linearized system is designed using the Bessel prototype for locating system poles. A system coordinator is used for coordinating the motion of the manipulators.

Comments

Includes bibliographical references (pages 115-117)

Extent

ix, 117 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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