Analysis of the Dynamics and Control of a Two Degree of Freedom Robotic Manipulator Mounted on a Moving Base

摘要

Mounting robotic manipulators on moving bases offers the potential of greatly extending the manipulator applications. However, the motion of the base creates a number of problems in terms of the control of the manipulator. The base motion subjects the manipulator to large scale disturbances that can seriously degrade system performance. This thesis illustrates the problems associated with a moving base as it applies to a two degree of freedom manipulator. It is shown that conventional control techniques, such as PID control, cannot effectively compensate for the base accelerations in a typical application. It is also shown that more advanced control algorithms, including decoupling control, LQR control, and pole placement prove to be ineffective to varying degrees. The linear co ntroller that placement technique, is then applied to the complete nonlinear system in an attempt to investigate the influence of the base motion over the entire range of motion of the manipulator. Recommendations for possible solutions to the moving base, problem, along with recommendations for extensions of this work, are then made.