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Quantitative model validation of manipulative robot systems

Kartowisastro, I H (1991). Quantitative model validation of manipulative robot systems. (Unpublished Doctoral thesis, City University, London)


This thesis is concerned with applying the distortion quantitative validation technique to a robot manipulative system with revolute joints. Using the distortion technique to validate a model quantitatively, the model parameter uncertainties are taken into account in assessing the faithfulness of the model and this approach is relatively more objective than the commonly visual comparison method. The industrial robot is represented by the TO. MA2Q0Q robot arm. Details of the mathematical derivation of the distortion technique are given which explains the required distortion of the constant parameters within the model and the assessment of model adequacy.

Due to the .complexity of a robot model, only the first three degrees of freedom are considered where all links are assumed rigid. The modelling involves the Newton-Euler approach to obtain the dynamics model, and the Denavit-Hartenberg convention is used through out the work. The conventional feedback control system is used in developing the model. The system behaviour to parameter changes is investigated as some parameters are redundant. This work is important so that the most important parameters to be distorted can be selected and this leads to a new term called the fundamental parameters.

The transfer function approach has been chosen to validate an industrial robot quantitatively against the measured data due to its practicality. Initially, the assessment of the model fidelity criterion indicated that the model was not capable of explaining the transient record in term of the model parameter uncertainties. Further investigations led to significant improvements of the model and better understanding of the model properties. After several improvements in the model, the fidelity criterion obtained was almost satisfied. Although the fidelity criterion is siighltly less than unity, it has been shown that the distortion technique can be applied in a robot manipulative system.

Using the validated model, the importance of friction terms in the model was highlighted with the aid of the partition control technique. It was also shown that the conventional feedback control scheme was insufficient for a robot manipulative system due to high nonlinearity which was inherent in the robot manipulator.

Publication Type: Thesis (Doctoral)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: School of Science & Technology > Engineering > Electrical & Electronic Engineering
School of Science & Technology > School of Science & Technology Doctoral Theses
Doctoral Theses
Text - Accepted Version
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