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Design, Fabrication and Model-based Control of Brachiation Robot

Hosseini Lavasani, Mohammad | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41640 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Meghdari, Ali
  7. Abstract:
  8. In the beginning of the 90’s a new type of robot was introduced by Fukuda. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, optimal control is used to obtain the optimal trajectories for two different problems. The first problem is “Brachiation between fixed branches with different distance and height” and the second is “Brachiating and catching the moving target branch”. Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the “Target Dynamics” method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the brachiation time. Two kinds of controllers, the PD and the Adaptive Robust, are investigated for tracking the proposed trajectories. Then the previous method on set-point controller for acrobat robots is improved to represent a new adaptive robust controller which allows the system to track the desired trajectory. This new controller has the capability to be used in systems which have uncertainty in the inertial parameters. Lastly, theoretical results are shown and validated with experimental tests with PD controllers.

  9. Keywords:
  10. Brachiation Robot ; Optimal Control ; Model Based Control ; Adaptive Robust Control ; Irregular Ladder ; Moving Target Bar

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