Flervariabel reglering av industrirobot
Independent thesis Basic level (professional degree)Student thesisAlternative title
Multivariable control of industrial robot (English)
The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600.
The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox.
A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace. The gain scheduling is implemented along a reference path in the workspace, around which the simulations and frequency analyses are performed.
The regulators that have been tested are a PID-regulator, a gain scheduled LQ-regulator, a gain scheduled LQ-regulator with reconstructed states, and finally a fix LQ-regulator with reconstructed states. Results from the tests show that the gain scheduling LQ-regulator is the one that yields the best rejection of disturbances, but the corresponding regulator with reconstructed states, which is more realistic, performs nearly as well. The model based regulators are, however, significantly better when it comes to rejecting disturbances than the PID-regulator.
Place, publisher, year, edition, pages
Institutionen för systemteknik , 2004. , 74 p.
Reglerteknik, Multivariable control, gain scheduling, LQG, industrial robot
IdentifiersURN: urn:nbn:se:liu:diva-2200OAI: oai:DiVA.org:liu-2200DiVA: diva2:19530