Development of A Multi-Axis Motion Controller for Robotic Manipulator Systems
Date Issued
2008
Date
2008
Author(s)
Yeh, Jyun-Hong
Abstract
The main purpose of this thesis is to design a multi-axis motion controller and achieve good tracking performance in work space.n the motion analysis of our system, we use forward and inverse kinematics methods in ADMAS and MATLAB Simulink to simulate trajectory generation and system dynamics. And by returning the data in ADMAS to MATLAB, we can verify the tracking performance of our controller.n control algorithm design, we analyzed the multi-axis motion system to find a better multi-axis controller and error compensator. Considering the relationship between the synchronization and contouring control of multi-axis systems, we can apply the modification and propose a robust controller to compensate each axis in real-time. With the comparison to the conventional controller, the novel multi-axis motion controller can provide precise position accuracy for multi-axis robotics manipulators in task space.inally, in the integration of control hardware, we employed an embedded motion controller which combines DSP and FPGA to realize multi-axis motion controller. We also integrate a reliable motion controller and GUI into robotics motion control system to verify the whole system performance.
Subjects
Trajectory planning of robotics
Motor Control
Multi-Axis Control
Cross-Coupling Control
Synchronization Control
Robust Control
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-97-R95522803-1.pdf
Size
23.53 KB
Format
Adobe PDF
Checksum
(MD5):724d1fa511421cd44a27a84f00bbcd1a