Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control
Författare
Summary, in English
The second part of the thesis discusses optimal motion control applied to robot manipulators and road vehicles. A control architecture for online control of a robot manipulator in high-performance path tracking is developed, and the architecture is evaluated in extensive simulations. The main characteristic of the control strategy is that it combines coordinated feedback control along both the tangential and transversal directions of the path; this separation is achieved in the framework of natural coordinates. One motivation for research on optimal control of road vehicles in time-critical maneuvers is the desire to develop improved vehicle-safety systems. In this thesis, a method for solving optimal maneuvering problems using nonlinear optimization is discussed. More specifically, vehicle and tire modeling and the optimization formulations required to get useful solutions to these problems are investigated. The considered method is evaluated on different combinations of chassis and tire models, in maneuvers under different road conditions, and for investigation of optimal maneuvers in systems for electronic stability control. The obtained optimization results in simulations are evaluated and compared.
Avdelning/ar
Publiceringsår
2015
Språk
Engelska
Publikation/Tidskrift/Serie
PhD Thesis TFRT-1108
Fulltext
Dokumenttyp
Doktorsavhandling
Förlag
Department of Automatic Control, Lund Institute of Technology, Lund University
Ämne
- Robotics
- Control Engineering
Status
Published
Projekt
- COMET
- SMErobotics
- RobotLab LTH
Forskningsgrupp
- LCCC
Handledare
ISBN/ISSN/Övrigt
- ISSN: 0280-5316
- ISSN: 0280-5316
- ISBN: 978-91-7623-434-1
- ISBN: 978-91-7623-435-8
Försvarsdatum
25 september 2015
Försvarstid
10:15
Försvarsplats
Lecture hall M:B, M-building, Ole Römers väg 1, Lund University Faculty of Engineering
Opponent
- Olav Egeland