Award Date

1-1-1992

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical Engineering

First Committee Member

Mohamed Trabia

Number of Pages

189

Abstract

The objective of this thesis is to study the dynamics and control of a three link flexible robot. The Lagrange equations are used for deriving the equations of motion of this three link flexible robot. The equations of motion of this robot are derived by using a mathematical and symbolic manipulation software known as MACSYMA. The vibration mode shapes are approximated by using assumed mode method. A PID 'proportional, integral and differential' controller is used in this system to control the input torques to obtain desired joint angles trajectory. Linear stabilizers are introduced to suppress the vibrations of the links in both in plane and out of plane directions. Pole placement technique is used to place the poles and find the appropriate feed back gains of the dynamic system.

Keywords

Control; Flexible; Link; Mathematical; Modeling; Robot; Three; Trajectory; Vibrations

Controlled Subject

Mechanical engineering

File Format

pdf

File Size

3.02 MB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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