ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino - - PowerPoint PPT Presentation

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ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino - - PowerPoint PPT Presentation

Aug 02, 2023 365 likes •707 views

ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Control Part 3 Robust Control Basilio Bona - DAUIN - PoliTo 3 ROBOTICS 01PEEQW - 2014/2015 Robust Control Basilio Bona - DAUIN - PoliTo 4 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 1

ROBOTICS 01PEEQW

Basilio Bona DAUIN – Politecnico di Torino

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SLIDE 2

Control – Part 3

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SLIDE 3

Robust Control

Basilio Bona - DAUIN - PoliTo 3 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 4

Robust Control

Basilio Bona - DAUIN - PoliTo 4 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 5

Robust Control

Basilio Bona - DAUIN - PoliTo 5 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 6

Robust Control

Basilio Bona - DAUIN - PoliTo 6 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 7

Robust Control

Basilio Bona - DAUIN - PoliTo 7 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 8

Robust Control

Basilio Bona - DAUIN - PoliTo 8 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 9

Robust Control

Basilio Bona - DAUIN - PoliTo 9 ROBOTICS 01PEEQW - 2014/2015

(A)

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SLIDE 10

Robust Control

Basilio Bona - DAUIN - PoliTo 10 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 11

Robust Control

Basilio Bona - DAUIN - PoliTo 11 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 12

Robust Control

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SLIDE 13

Robust Control

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SLIDE 14

Adaptive Control

Basilio Bona - DAUIN - PoliTo 14 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 15

Fundamental properties of the robot equation

Basilio Bona - DAUIN - PoliTo 15 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 16

Fundamental properties of the robot equation

Basilio Bona - DAUIN - PoliTo 16 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 17

Methods based on inverse dynamics

Basilio Bona - DAUIN - PoliTo 17 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 18

Inverse dynamics with known parameters

Basilio Bona - DAUIN - PoliTo 18 ROBOTICS 01PEEQW - 2014/2015

(2) (1) (3)

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SLIDE 19

Inverse dynamics with known parameters

Basilio Bona - DAUIN - PoliTo 19 ROBOTICS 01PEEQW - 2014/2015

(5) (4) (6)

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SLIDE 20

Craig’s Method (M1)

Basilio Bona - DAUIN - PoliTo 20 ROBOTICS 01PEEQW - 2014/2015

(7) (8)

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SLIDE 21

Craig’s Method (M1)

Basilio Bona - DAUIN - PoliTo 21 ROBOTICS 01PEEQW - 2014/2015

(9)

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SLIDE 22

Craig’s Method (M1)

Basilio Bona - DAUIN - PoliTo 22 ROBOTICS 01PEEQW - 2014/2015

(10)

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SLIDE 23

Craig’s Method (M1)

Basilio Bona - DAUIN - PoliTo 23 ROBOTICS 01PEEQW - 2014/2015

(11)

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SLIDE 24

Proof

Basilio Bona - DAUIN - PoliTo 24 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 25

Proof

Basilio Bona - DAUIN - PoliTo 25 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 26

Craig’s method (M1) block diagram

Basilio Bona - DAUIN - PoliTo 26 ROBOTICS 01PEEQW - 2014/2015

∫

1 −

B P

T T

Γ Φ ˆ( ) g q ˆ( , ) C q q ɺ ˆ(0) θ ˆ( ) H q

ROBOT

q ɺɺ q ɺ q a

r

q ɺɺ

r

q ɺ

r

q e e ɺ

P

K

D

K

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SLIDE 27

Some observations

Basilio Bona - DAUIN - PoliTo 27 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 28

Spong’s method (M2)

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(12)

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SLIDE 29

Spong’s method (M2)

Basilio Bona - DAUIN - PoliTo 29 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 30

Spong’s method (M2)

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SLIDE 31

Spong’s method (M2)

Basilio Bona - DAUIN - PoliTo 31 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 32

Spong’s method (M2)

Basilio Bona - DAUIN - PoliTo 32 ROBOTICS 01PEEQW - 2014/2015

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SLIDE 33

Amestagui’s method (M3)

Basilio Bona - DAUIN - PoliTo 33 ROBOTICS 01PEEQW - 2014/2015