Dissertation > Excellent graduate degree dissertation topics show

Modeling and Control of Three-link Gymnastic Robot on A Horizontal Bar

Author: GuoYi
Tutor: LiZuShu
School: Chongqing University
Course: Control Science and Engineering
Keywords: Three joints gymnastics robot Class equivalent modeling Simulated intelligent control Genetic Algorithms
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 65
Quote: 0
Read: Download Dissertation

Abstract


Gymnastics robot is a non-linear, non-complete, strong coupling, multi-state, underactuated system, and the regional stability pendulum is naturally unstable system. Such systems can reflect many of the key issues of the control field. A large number of domestic and foreign scholars engaged in the study of the Gymnastics robot control. Although the simulation platform can get very good control effect, control the success of the team, but success rarely control in-kind platform. The key issue is that a large number of research teams are in the ideal simulation platform to study gymnastics robot control, makes no practical significance of research can not be applied directly on the platform and in-kind. The use of \\within the permissible range. Firstly, the use of Lagrange modeling method to establish a system to torque input rigid body dynamics equations. Then use of the mechanism and the two methods of data analysis of the model of the robot of the third joint gymnastics. Draw a block diagram of the robot drive system based on the principle of operation and control structure of the robot, finishing, simplified motor mechanism model. However, the structure of the model is more complex and not easy to control analysis. Further class equivalent \Pure lag element of the system step response curve to determine the frequency response Bode plot obtained acceleration driven model to determine the order of the model, and finally the equivalent model of the rigid body dynamics model to simplify and motor embedded in the rigid body model obtain input acceleration dynamics model. Using improved genetic algorithms identification of model parameters. Experiments show, the accuracy of the model and simplified similar cut and the actual platform very small deviation, the simplified model is effective. Multi-modal control thought, control the application of humanoid intelligent control the Gymnastics robot swing-up inverted chronological division multiple modes, each mode using a different controller. The originally very complex control process is transformed into a more simple control. The balance control is gymnastics robot is the most critical and most difficult stage of the control, this paper uses the LQR controller, and the use of improved genetic algorithm to search the optimal control parameters. However, the experimental results show that the accurate model simulation platform, separate the use of the LQR controller controls the results are unsatisfactory, the stability region is too narrow.

Related Dissertations

  1. Development of the on-line Training and Examination System of Army,TP311.52
  2. Designs and Applications of Fuzzy Synthetic Evaluation Models Based on Parallel Algorithms,TP18
  3. Based on Genetic Algorithm Pishihang irrigation canal water allocation marshalling model of,S274
  4. Genetic Algorithm in logistics and warehousing Optimization Research,F259.2
  5. Mining resources based on genetic algorithm optimization model of,O224
  6. The Research and Application of Modified Algorithms About Fuzzy Predictive Functional Control,TP273
  7. Optimal Control of Emulsion System in Cold Rolling,TP273
  8. Research on the Marshalling-scheduling Model and Algorithms of Freight Trains Based on Game Theory,O225
  9. Multi-directional Mutation Genetic Algorithm and Research on Neural Network Optimization,TP18
  10. The Application of Using Genetic Algorithms on Universities Course-arranging System,TP18
  11. Research on Mobile Robot Path Planning and Simulation Realization,TP242
  12. Research on Routing Algorithmin Sensor Networks Based on Cluster with Mobile Sink,TP212.9
  13. Research and Implement of the Theme Crawler for Automotive Industry,TP391.3
  14. The Research and Implement on Camera Calibration Technology Based on Trifocal Tensor,TP391.41
  15. Decision Support System of Vehicle Scheduling in Double Level Garage,TP242
  16. The Studies on Some Improvements of the GA and Their Applications in SVM,TP18
  17. A Reduction Method for Artificial Neural Network Inputs Based on An Improved Genetic Algorithm,TP18
  18. Optimal Riser Design of Steel Casting Based on CAE Analysis,TG260
  19. In-furnace Temperature Information Included Combustion Optimization of a Utility Boiler,TK227.1
  20. Design of High-efficiency Thermophotovoltaic System,TM914.4
  21. A Novel Multiport Matching Network Model of an Indoor MIMO System,TN919.3

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile