TK373 : Optimal Force-Impedance Control of Robot Manipulator using Voltage Control Strategy
Thesis > Central Library of Shahrood University > Electrical Engineering > MSc > 2014
Authors:
Abstarct: This thesis discusses about the designing of the Optimal Force-Impedance Controller in
SCARA Robot arm with the aim of cell injection using Voltage Control Strategy. In the
cell injection system, the Injector via fine needle, injects the materials into the cells.
This thesis proposes employing SCARA Robot with injection tool and includes ability
for desired tracking and also applying of time-varying force. In recent articles the
control injects to the rotating plate of Cells and therefore causes the damaging risk for
cells. The purpose of this thesis is the system is fixed plate and to improve the success
full, the robot is controlled. This thesis describes the impedance model of the robot
baxsed on Thevenin method and the parameters of environmental models are estimated
via nonlinear proposed models and by using the recursive method, the minimum of
squares errors will be optimal. In all recent studies of cell injection systems, the
impedance control are baxsed on torque control method and the purpose of this article is
applying the impedance control using voltage control strategy. According to the
nonlinear and also multivariate model of robot, to overcome uncertainty subjects the
Robust and adaptive controller methods are proposed and because of to be free of robot
model, the designing of phase controllers are more efficient. In the proposed method,
the stability of the control system is guaranteed and it will be shown. To solve the
problem of how to select the coefficients of impedance model to implementation the
optimal force in to the tested cells, a fuzzy system included adaptive system is designed.
These systems consecutively estimate the parameters for the impedance robot model
and also the environmental models. Results of the simulation demonstrate the desired
performance of the proposed method.
Keywords:
#impedance control #voltage control strategy #cell injection robot #fuzzy systems #estimating the parameters of the impedance model Link
Keeping place: Central Library of Shahrood University
Visitor:
Keeping place: Central Library of Shahrood University
Visitor: