Modeling and control of the material handling system
Abstract
The control of the motion of a two-link manipulator with a non-rigid forearm is studied. The first link is rigid and the second link has a non-rigid part as an extension of a rigid part. The motion of the manipulator takes place on a horizontal plane. The dynamics of the two-link manipulator with a non-rigid forearm are determined in Lagrange's formulation. The position (output) of specified points on the flexible forearm are obtained from the strain gauge and joint variable measurements. The inputs are applied to the actuators of the revolute and prismatic joints. For the controller design, a time-series multivariate model of the autoregressive exogenous (ARX) type is used to describe the input-output relation. The discounted least square method is used to estimate parameters of the time-series model. A self-tuning controller is so designed that the positions of specified points on the flexible forearm track the given trajectory points. The controller operates on the Cartesian coordinates specifying the positions of the chosen discrete points on the non-rigid link. Simulation results as well as laboratory experiments on a Stanford/JPL arm controlled by a self-tuning controller are presented to illustrate the approach. The last part of this research investigates the feasibility of a material handling system which transports materials in the intelligent assembly using a mobile vehicle incorporated with a non-rigid manipulator. The benefits include increased productivity and flexibility of the material handling. The kinematic and dynamic models of a mobile vehicle will also be modeled for the simulation study. Simulation results using a self-tuning control is also presented.
Degree
Ph.D.
Advisors
Koivo, Purdue University.
Subject Area
Electrical engineering|Industrial engineering
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