Scenario Development for Industrial Robot Manipulator: Case Study in Processing Casted Metal Components
The main objective of this master?s thesis was to identify the unknown parameters
for the 6th joint of robot manipulator IRB 140 and then create a
passivity-based robust controller for controlling this joint.
This report includes a brief introduction to modeling of robot manipulators,
system identification, digital signal processing and passivity-based robust
A simulation of the least squares method for the system identification model
is presented before the same method is used to estimate the unknown parameters
for IRB 140. Then a passivity-based robust controller is designed
and tested for the 6th joint of IRB 140.
From the experimental results it was discovered that the estimated parameters
were incorrect. It was revealed that the estimates of the unknown
parameters have great influence on the passivity-based robust controller. If
the estimates are incorrect the accuracy of controller is poor. The controller
designed in this thesis was less precise than the ABB RobotStudio controller.
To pick-and-place and process casted components it is important to have
force and velocity limitations for the robot, so that it does not crush the
components or lose hold of them.
Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2013. , 120 p.
IdentifiersURN: urn:nbn:no:ntnu:diva-22238Local ID: ntnudaim:8924OAI: oai:DiVA.org:ntnu-22238DiVA: diva2:648693
Shiriaev, Anton, ProfessorLangøy, Morten A.