Kinematics, dynamics and control of a closed chain mechanism manipulator

摘要

This dissertation is concerned with three main areas of robots with closed kinematic chain mechanism: kinematics, dynamics and control. In kinematic analysis, both direct and inverse kinematic solutions were discussed. Based on an algebraic approach to inverse kinematic problem, an inverse kinematic solution for a manipulator with closed kinematic chain mechanism, G.E. P-50 robot, was derived. A computer program using algebraic manipulation language REDUCE was written to generate symbolic closed-form dynamic equations for open-chain mechanism manipulator with as many as six degrees of freedom. This computer program utilized the recursive Newton-Euler formulation. By incorporating derived kinematic constraints in the above mentioned REDUCE program, symbolic closed-form dynamic equations G.E. P-50 robot were generated. Based on these dynamic equations and actuator dynamics, an integrated joint dynamics model was developed. By applying the model reference adaptive control technique to the integrated joint dynamic model, an independent adaptive joint control scheme was derived. A computer simulation study, using G.E. P-50 robot model, was conducted to evaluate and compare the performance of developed adaptive controller with computer-torque controller. Simulation results showed that independent adaptive joint control scheme with feedforward compensation is effective for positioning control of manipulator with closed kinematic chain mechanism and outperform the computed-torque method.