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Concordia University Faculty of Engineering and Computer Science ENGR 7401: Robotic Control Final Project

This document outlines the requirements for a final project on robotic control. It describes: 1) A generalized n degree-of-freedom mechanical system modelled using Lagrange's equations relating the kinetic and potential energies to generalized forces. 2) Two properties that simplify the model by making the inertia matrix skew-symmetric and relating the dynamics to unknown inertia parameters. 3) The control objective is to determine a control law that stabilizes the joint positions to desired trajectories using only position measurements and bounded torques, without knowing the system parameters. 4) The control algorithm must be tested on a two-link manipulator.

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43 views

Concordia University Faculty of Engineering and Computer Science ENGR 7401: Robotic Control Final Project

This document outlines the requirements for a final project on robotic control. It describes: 1) A generalized n degree-of-freedom mechanical system modelled using Lagrange's equations relating the kinetic and potential energies to generalized forces. 2) Two properties that simplify the model by making the inertia matrix skew-symmetric and relating the dynamics to unknown inertia parameters. 3) The control objective is to determine a control law that stabilizes the joint positions to desired trajectories using only position measurements and bounded torques, without knowing the system parameters. 4) The control algorithm must be tested on a two-link manipulator.

Uploaded by

Diego
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Concordia University

Faculty of Engineering and Computer Science


ENGR 7401: Robotic Control
Final Project
Instructor: Chun-Yi Su

We consider a mechanical system with n degree-of-freedom whose generalized coordinates


are q1 , q2 , ..., qn . The Lagrange equations describing the motion of the system are
d L
L
)
= r ,
(
dt qr
qr

r = 1, 2, ..., n,

(1)

where L = T P , T and P are the kinetic and potential energy respectively, and r is the
generalized force. The kinetic energy can be expressed as
T =

n
1
aij qi qj
2 i,j=1

(2)

where aij is a function of the generalized coordinates.


In the following, we denote q = [q1 q2 ...qn ]T , then Lagranges equation (1) can be
manipulated to derive
q)q + G(q) =
D(q)
q + F (q,
(3)
where the n n matrix D(q) is positive definite and symmetric, and is related to the inertial
q)q is in general a nonlinear function of its
properties of system, the vector function F (q,
T
arguments and = [1 , 2 , ...n ] .
In the following development we only consider the systems with the following two simplifying properties.

makes the matrix (D2F


Property 1: A suitable definition of F (q, q)
) skew-symmetric.

In particular, this is true if the elements of F (q, q) are defined as


n
1 T Dij
Dik Djk
Fij = [q
+
(

)qk ]
2
q
qi
k=1 qj

(4)

Property 2: There exists a m-vector with components depending on mechanical


parameters (masses, moments of inertia, etc.), such that
q + G(q) = (q, q,
q
)
D(q)
q + F (q, q)

(5)

q
; and is the m-vector of inertia
where is a nm matrix of known functions of q, q,
parameters.
d , which are assumed
The control objective can be specified as: given desired qd , q d , and q
to be bounded, determine a control law for such that q asymptotically converge to qd ,
satisfying the following conditions:
All the parameters in the manipulator system (3) are unknown

Use only joint position measurements


Bounded torque inputs are used (an explicit bounds on the torques should be delivered)
It is necessary to use a two-link manipulator with the parameters given in the project
#1 to verify your control algorithm.

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