Please use this identifier to cite or link to this item: http://localhost:8081/xmlui/handle/123456789/11460
Authors: Ravali, U.
Issue Date: 2010
Abstract: The rapid development of factory automation involves industrial robot arms, which are mostly used in manufacturing processes to increase the productivity and quality of the products. The current thrust of research in robotics is to control robots which can operate in dynamic and partially known environments. Control of an industrial robot includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. Because of these reasons, control of robot arm is a complex task in real time. Robust control strategy has been evolved to tackle these problems. In the Robust control, backstepping method is one of the important robust stabilization technique to control the robot arm. Robust backstepping control is a powerful tool for stabilizing nonlinear systems for tracking and regulation purposes. This control design strategy provides the systematic construction of a Lyapunov function guaranteeing global asymptotic stability in tracking of desired position and speed trajectories, preserving useful system nonlinearities. In the present work, the dynamics of robot are explained in detail. Friction and disturbances are modelled. The control problems of the robot arm and the basic control schemes are presented. Robust control law is designed using back stepping for trajectory tracking in the presence of structured and unstructured uncertainties. The stability of the closed loop system under this controller is proved using Lyapunov stability. The Lyapunov stability proof gives the global asymptotic stability by converging error to zero in the case of wide range of uncertainties. First, the robust control law is designed in joint space. The controller performance is verified by implementing it on 2-DOF and 3-DOF robot arms. Because of the advantages of the task space control over the joint space control, the control law is redesigned in task space. The redesigned controller is again verified by implementing on the same 2-DOF and 3DOF robot arms.
Other Identifiers: M.Tech
Research Supervisor/ Guide: Gupta, Hari Om
Tyagi, Barjeev
metadata.dc.type: M.Tech Dessertation
Appears in Collections:MASTERS' THESES (Electrical Engg)

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