Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures

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" Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150469
Doc. No	:	ET22261
Main Entry	:	Jack B. Aldrich
Title Proper	:	Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	For a new class of tendon-driven robotic systems that is generalized to includetensegrity structures, this thesis focuses on methods that determine the tendon force in-puts from a set of admissible, non-saturating inputs, that will move the hyper-actuatedrigid-body system from point A to point B along a prescribed path in minimum timeandlor minimum control energy. The approaches herein utilize the existence conditionsand solution of a linear algebra problem that describes how the set of admissible ten-don forces is mapped onto the set of path-dependent torques. Since this mapping isnot one-to-one, free parameters in the control law always exist. An infinity-norm min-imization with respect to these free parameters is responsible for saturation avoidance.Characterizing and optimizing these free parameters is the new contribution. Feedbackis introduced to attenuate disturbances arising-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45466.pdf
Title and statement of responsibility and	:	Control Synthesis for a Class of Light and Agile Robotic Tensegrity Structures [Thesis]