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dc.contributor.advisor Pearson, J. B.
dc.creatorBarry, Patricia A.
dc.date.accessioned 2018-12-18T21:23:25Z
dc.date.available 2018-12-18T21:23:25Z
dc.date.issued 1985
dc.identifier.urihttps://hdl.handle.net/1911/104456
dc.description.abstract A servo-controller is developed for a three joint manipulator. The servo-controller consists of a dead beat controller and an on-line parameter estimator. The dead beat controller is implemented in four steps. A piecewise linear model is calculated on line. Simultaneous diagonalization of the stiffness and inertia matrices is performed after linearization. A control vector for the linearized, diagonalized system is generated at a faster rate. The control vector is transformed from the diagonalized mode to the real mode via multiplication by a transformation matrix. The parameter estimator is a least' squares estimator designed to estimate the stiffness parameters in the diagonalized mode. The parameter estimator iteratively estimates the eigenvectors and eigenvalues associated with the stiffness parameters. The parameter estimator converges too slowly to meet the design requirements. The controller, however, provides an acceptable tracking error* and is robust enough to use without the parameter estimator.
dc.format.extent 94 pp
dc.language.iso eng
dc.title A dead beat controller and least squares parameter estimator for a three joint robot arm
dc.identifier.digital RICE2091
dc.contributor.committeeMember Kohn, Wolf;Briggs, Faye A.
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Electrical Engineering
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.format.digitalOrigin reformatted digital
dc.identifier.callno THESIS E.E. 1985 BARRY
dc.identifier.citation Barry, Patricia A.. "A dead beat controller and least squares parameter estimator for a three joint robot arm." (1985) Master’s Thesis, Rice University. https://hdl.handle.net/1911/104456.


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