Inertia compensation of a planar robot for human upper limb interaction
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. === This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. === Cataloged from student-submitted PDF version of...
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ndltd-MIT-oai-dspace.mit.edu-1721.1-1186762019-05-02T15:48:04Z Inertia compensation of a planar robot for human upper limb interaction Thorup, Jessie Neville Hogan. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 139-142). This thesis documents the development of software and a control system for the InMotion2 planar robot. Software was developed to provide sensor input processing from the robot encoders and force/torque transducer, and output processing for the robot motors. A controller scheme was developed to compensate for the natural robot configuration-based inertia as well as friction and un-modeled dynamics. The inertia compensator was designed using an inertial admittance model and a nonlinear robust adaptive tracking controller based on sliding mode control. A hybrid control mode was developed in which impedance control was used to enforce a virtual constraint and inertia compensation acted along the constraint. The controller proved to be stable throughout testing and provide the desired inertia. The accuracy of the inertia compensation was within human perception limits for modest inertia references. by Jessie Thorup. S.M. 2018-10-22T18:27:52Z 2018-10-22T18:27:52Z 2018 2018 Thesis http://hdl.handle.net/1721.1/118676 1057362581 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 142 pages application/pdf Massachusetts Institute of Technology |
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Mechanical Engineering. Thorup, Jessie Inertia compensation of a planar robot for human upper limb interaction |
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018. === This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. === Cataloged from student-submitted PDF version of thesis. === Includes bibliographical references (pages 139-142). === This thesis documents the development of software and a control system for the InMotion2 planar robot. Software was developed to provide sensor input processing from the robot encoders and force/torque transducer, and output processing for the robot motors. A controller scheme was developed to compensate for the natural robot configuration-based inertia as well as friction and un-modeled dynamics. The inertia compensator was designed using an inertial admittance model and a nonlinear robust adaptive tracking controller based on sliding mode control. A hybrid control mode was developed in which impedance control was used to enforce a virtual constraint and inertia compensation acted along the constraint. The controller proved to be stable throughout testing and provide the desired inertia. The accuracy of the inertia compensation was within human perception limits for modest inertia references. === by Jessie Thorup. === S.M. |
author2 |
Neville Hogan. |
author_facet |
Neville Hogan. Thorup, Jessie |
author |
Thorup, Jessie |
author_sort |
Thorup, Jessie |
title |
Inertia compensation of a planar robot for human upper limb interaction |
title_short |
Inertia compensation of a planar robot for human upper limb interaction |
title_full |
Inertia compensation of a planar robot for human upper limb interaction |
title_fullStr |
Inertia compensation of a planar robot for human upper limb interaction |
title_full_unstemmed |
Inertia compensation of a planar robot for human upper limb interaction |
title_sort |
inertia compensation of a planar robot for human upper limb interaction |
publisher |
Massachusetts Institute of Technology |
publishDate |
2018 |
url |
http://hdl.handle.net/1721.1/118676 |
work_keys_str_mv |
AT thorupjessie inertiacompensationofaplanarrobotforhumanupperlimbinteraction |
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1719028149745876992 |