Design and Realization of a Safe Control System for a Parallel Manipulator

Eglence, E. (2003) Design and Realization of a Safe Control System for a Parallel Manipulator.

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Abstract:The Control Laboratory at University of Twente has purchased an Imotec xyz-manipulator. The manipulator is delivered with an open operating system. This thesis treats the design and realization of a safe guarded controller system for the Imotec manipulator. Safety issues are discussed to make the manipulator operate safely for doing research experiments by students and staff. This concerns safety of the manipulator itself and of the people working with it. The first experiments will be concerned with the research on Learning Feed Forward Control (LFFC). The safe guarded controller system is implemented as a Multi Agent Controller (MAC) system. The controller is tested in simulation (20-Sim) and has proven to work correctly. The designed controller has largely been implemented on the real system and has been found to work according to expectations. For a slow, large stroke movement, a maximum tracking error of 250 [¿m] was found at moments of velocity reversal; otherwise, the max tracking error amounted 100 [¿m]. Because of time constraints, the experiments with LFFC have not been carried out. A path generator tool has been developed that can be used for creating path for manipulators in general. It creates curves and straight movements in (x,y,z). With the tool a reference motion can be given up in segments from which afterwards a file is created which holds the reference points for the sample times.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/56902
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