Controller design for a rail mounted inspection robot manipulator

Overbeek, L.M (2015) Controller design for a rail mounted inspection robot manipulator.

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Abstract:This paper focuses on the controller design of the RoboShip manipulator. The manipu- lator has been designed to inspect ballast wa- ter tanks autonomously. The goal of this pa- per is to design and implement the controller on the manipulator that is able to steer the end-effector to a predefined setpoint. The manipulator needs to remain stable when the end-effector contacts the wall of the bal- last water tank to take a measurement. The designed controller is implemented on the RoboShip manipulator and tested in both free space and in contact with the environ- ment. Experiments indicate that the manip- ulator is capable of operating both in free space and in contact with the environment. Keywords: Operational space, redundant manipu- lator, ballast water tank, impedance control, PID- controller, gravity compensation
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/68967
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