polito.it
Politecnico di Torino (logo)

Control methodology for an inflatable robotic arm

Nicola Occhipinti

Control methodology for an inflatable robotic arm.

Rel. Stefano Mauro, Matteo Gaidano, Pierpaolo Palmieri. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2022

[img]
Preview
PDF (Tesi_di_laurea) - Tesi
Licenza: Creative Commons Attribution Non-commercial No Derivatives.

Download (5MB) | Preview
Abstract:

Soft robotic arms, made up of flexible components, have emerged recently. These systems can improve safety in collaborative operations, however, they also suffer from decreased precision and low payload. The control problem is then challenging due to link flexibility. The examined system is the so-called POP-UP robot, which is an anthropomorphic robotic arm with two inflatable links and three rigid joints designed and prototyped at DIMEAS. The system is composed by inflatable links and it is characterized by non-linearity. This structure is designed for aerospace applications and its main advantage regards the reduction of costs and storage, during the launch phase, with respect to a rigid equivalent manipulator and it is hard to derive a precise dynamic model suitable for control application. As a consequence it is very difficult to find a robust control law aiming to reduce the oscillations that arise after grasping a payload. This thesis aims to describe some methods to model an inflatable link and implement a vibration dumping control. A pseudo-rigid body model is defined and identified according to a set of experimental data. The same data are used to tune a FE model of the system. The frequency response of the flexible link to input from the motoreducer is evaluated, considering different payloads. This model is eventually used to develop a vibration control to the robot motion control. The obtained results are shown and discussed.

Relatori: Stefano Mauro, Matteo Gaidano, Pierpaolo Palmieri
Anno accademico: 2022/23
Tipo di pubblicazione: Elettronica
Numero di pagine: 165
Soggetti:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: Nuovo ordinamento > Laurea magistrale > LM-25 - INGEGNERIA DELL'AUTOMAZIONE
Aziende collaboratrici: NON SPECIFICATO
URI: http://webthesis.biblio.polito.it/id/eprint/25472
Modifica (riservato agli operatori) Modifica (riservato agli operatori)