Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty
This thesis presents a model-based fuzzy tuning PID method for the force/position control of a robot manipulator. The interaction relationship between the robot and the environment is modeled for hybrid control scheme. The model is based on the kinematic and dynamic descriptions because in many robo...
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| Format: | Thesis |
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2008
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| Online Access: | http://hdl.handle.net/10356/4778 |
| _version_ | 1811695462863863808 |
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| author | Li, Yimin. |
| author2 | Ho, Yheong Khing |
| author_facet | Ho, Yheong Khing Li, Yimin. |
| author_sort | Li, Yimin. |
| collection | NTU |
| description | This thesis presents a model-based fuzzy tuning PID method for the force/position control of a robot manipulator. The interaction relationship between the robot and the environment is modeled for hybrid control scheme. The model is based on the kinematic and dynamic descriptions because in many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. The kine-matic description represents the constrained relationship between the robot and the environment, while the dynamic description includes the configurations representing the relative motion of the robot with respect to the environment. Meanwhile, in order to study the influence of the kinematic uncertainty from the environment on the sys-tem, parameter representing uncertainty is also introduced into the descriptions of the interaction relationship. |
| first_indexed | 2024-10-01T07:23:52Z |
| format | Thesis |
| id | ntu-10356/4778 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T07:23:52Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/47782023-07-04T15:14:58Z Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty Li, Yimin. Ho, Yheong Khing School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics This thesis presents a model-based fuzzy tuning PID method for the force/position control of a robot manipulator. The interaction relationship between the robot and the environment is modeled for hybrid control scheme. The model is based on the kinematic and dynamic descriptions because in many robotic tasks the manipulator in contact cannot be simply modeled as a kinematically constrained system. The kine-matic description represents the constrained relationship between the robot and the environment, while the dynamic description includes the configurations representing the relative motion of the robot with respect to the environment. Meanwhile, in order to study the influence of the kinematic uncertainty from the environment on the sys-tem, parameter representing uncertainty is also introduced into the descriptions of the interaction relationship. Master of Engineering 2008-09-17T09:58:18Z 2008-09-17T09:58:18Z 2000 2000 Thesis http://hdl.handle.net/10356/4778 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Li, Yimin. Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title | Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title_full | Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title_fullStr | Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title_full_unstemmed | Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title_short | Model-based fuzzy PID control of constrained robot in a dynamic environment with uncertainty |
| title_sort | model based fuzzy pid control of constrained robot in a dynamic environment with uncertainty |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/4778 |
| work_keys_str_mv | AT liyimin modelbasedfuzzypidcontrolofconstrainedrobotinadynamicenvironmentwithuncertainty |