University of Twente Student Theses
Impedance Control for a 2-DOF Compliant Manipulator using Kalman Filter-Based State Estimation
Peters, Jesse J. (2024) Impedance Control for a 2-DOF Compliant Manipulator using Kalman Filter-Based State Estimation.
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| Abstract: | This study proposes an enhanced impedance control scheme for a 2-DOF compliant manipulator, building on an existing scheme by introducing an accelerometer and a linear Kalman filter for improved state estimation. The manipulator features flexure hinges, reducing friction and providing high predictability of the system. System identification is achieved by analysing the position response to a Pseudo Random Binary Sequence (PRBS) force input, which provided the mass, damping and stiffness matrices of the system. These are used according to the equation of motion, together with the Kalman filter position and velocity estimates and the direct acceleration measurements, to cancel the admittance of the system. Virtual mass, damping and stiffness matrices are used according to the equation of motion, using the same feedback parameters to follow a reference while mimicking a desired impedance behaviour. Several simulation studies are done, where the working of the Kalman filter and the controller as a whole are tested. Validation of the controller was conducted in a simulation environment, where the natural frequency and damping ratio are obtained for several virtual systems and their corresponding desired systems. This is done by conducting three tests, where the virtual mass, stiffness and damping ratio parameters are varied, respectively. The results are beneath expectations, mainly due to deviation and uncertainty in the position response of the system, caused by inaccurate velocity estimation. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Subject: | 50 technical science in general |
| Programme: | Advanced Technology BSc (50002) |
| Link to this item: | https://purl.utwente.nl/essays/102314 |
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