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Master-Slave Synchronization Research on 3-DOF Manipulators

Author: ZhangZuo
Tutor: HanQingKai
School: Northeastern University
Course: Mechanical and Electronic Engineering
Keywords: 3-DOF manipulators dynamic system master-slave synchronization synchronized track control adaptive synchronization control
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 158
Quote: 1
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Abstract


Generally, the concept of synchronization means the correlated or corresponding in-time behaviors of two or more processes. The synchronized phenomena vastly exist in nature, sciences, and engineering technology, even as well as social and economical activities. Concerning a multi-robot system, which may include the identical or non-identical mechanical structures, many different synchronization patterns, such as external synchronization and mutually synchronization, are adopted to achieve their work task. In order to meet the requirement of trajectory tracking control of a parallel robot, the controlled synchronization method is used to enhance the accuracy of the track follower. The research on synchronization of robot dynamic system plays a key role in manufacturing and space engineering, whilst it expands the application of robotic synchronization and deepens the understanding of synchronized theory.In this paper, based on robotics, modern control theory, system stability theory, the research focuses on the external synchronization of master-slave system. Dynamic model, external synchronization controller and stability of control system are studied repectively for AS-MRobot system, which pave the road to achieve comparison between experiments and simulation with synchronized control. The main content of this paper is following:Considering the rigid AS-MRobot with 3 freedoms, the dynamic equation is built according to robotic kinematics and dynamics. The Lyapunov function is constructed in order to demonstrate the asymptotical stability of robotic closed-loop control system.In order to realize the synchronized control goal, a controller based on all states observed is designed. Then the referred simulation is done on a master-slave system, where a nonlinear hysteretic system is chosen as master, and a Duffing system is taken as slave. The simulation indicates that the controller is applicable.Then a controller on the track synchronization of the Mater-Slave end-manipulators is designed follow the above method, and the simulation indicates that the controller is applicable. Through the research on the PD control method, a method on variable gain is designed which can reduce the initial torque effectively. With the respect of model error of dynamic mathematic model, a kind of robust synchronized track control method is involved in this paper. Finally, considered the polynomial function is often used to approach the desired trajectory, AS-MRobot is simulated using the adaptive method in order to validate its application.In this paper, some generalized methods about robotic external synchronized control are studied. From the aspects of building robot dynamic model, designing synchronized controller, establishing system stability and simulating validation, the whole process of synchronization of robot dynamic system is investigated deeply, which will promote the future work of master-slave robots’ internal/external synthronization and multi-robots system synchronization research, meanwhile establish a strong background for the following robot synchronized experiment.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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