Change search
ReferencesLink to record
Permanent link

Direct link
Scenario Development for Industrial Robot Manipulator: Case Study in Processing Casted Metal Components
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2013 (English)MasteroppgaveStudent thesis
Abstract [en]

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 controllers. 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.
URN: urn:nbn:no:ntnu:diva-22238Local ID: ntnudaim:8924OAI: diva2:648693
Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2013-09-16Bibliographically approved

Open Access in DiVA

fulltext(4669 kB)1409 downloads
File information
File name FULLTEXT01.pdfFile size 4669 kBChecksum SHA-512
Type fulltextMimetype application/pdf
cover(1850 kB)16 downloads
File information
File name COVER01.pdfFile size 1850 kBChecksum SHA-512
Type coverMimetype application/pdf
attachment(225192 kB)16 downloads
File information
File name ATTACHMENT01.zipFile size 225192 kBChecksum SHA-512
Type attachmentMimetype application/zip

By organisation
Department of Engineering Cybernetics

Search outside of DiVA

GoogleGoogle Scholar
Total: 1409 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 53 hits
ReferencesLink to record
Permanent link

Direct link