Investigation of Indirect Force Control Strategies on Parallel Manipulator (Record no. 14737)
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000 -LEADER | |
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fixed length control field | 02419nam a22001697a 4500 |
082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
Classification number | 621.8 |
Item number | G552I |
100 ## - MAIN ENTRY--AUTHOR NAME | |
Personal name | Goel, Akshay |
245 ## - TITLE STATEMENT | |
Title | Investigation of Indirect Force Control Strategies on Parallel Manipulator |
Statement of responsibility, etc | by Akshay Goel |
260 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT) | |
Place of publication | IIT Jodhpur |
Name of publisher | Department of Mechanical Engineering |
Year of publication | 2019 |
300 ## - PHYSICAL DESCRIPTION | |
Number of Pages | xiii,56p. |
Other physical details | HB |
520 ## - SUMMARY, ETC. | |
Summary, etc | "Parallel Manipulators are seeking attention due to its applications in the areas of simulators, computeraided manufacturing, biomechanical devices, space exploration equipment, non-destructive testing (NDT),<br/>ship cleaning/inspection, cooperative manipulation. In such applications, manipulator interacts with the environment,which eventually imposes constraints on its behaviour. While interaction, such constraints may<br/>cause a rise in reaction forces, which may affect its stability or may even cause physical damage. This problem can be addressed either by making the motion compliant or overcoming the interaction forces by<br/>an appropriate force control strategy. Driven by this motivation, an attempt has been made in this work to develop a framework for implementing different indirect force control strategies on the parallel manipulator,<br/>namely 3-RRR planer parallel manipulator and Stewart Platform.First, the dynamic models and constraint Jacobian matrix of the closed-chain system are obtained.The dynamic model was obtained using the DeNOC based formulation and closed-loop constraint equations.<br/>Implementation of the force control strategy includes environment modelling, integration of position,velocity and force feedback, and control of joint torque to achieve the desired objective. Environmental<br/>interaction model can be implemented in two ways; i.e., either the robot approaches the stationary wall or the wall approaches the still robot. The latter is selected as a part of environment modelling as it allows<br/>setting up a reference for comparison of different strategies. Overview of various force control strategies for the industrial robot can be found in literature. This thesis presents a framework for implementation of the<br/>force-control strategies, namely, Stiffness, Impedance and Admittance control, on parallel manipulators."<br/> |
650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
Topical Term | Indirect Force Control Strategies |
Topical Term | MTech Theses |
Topical Term | Department of Mechanical Engineering |
700 ## - ADDED ENTRY--PERSONAL NAME | |
Personal name | Shah, Suril V. |
942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
Koha item type | Thesis |
Withdrawn status | Lost status | Damaged status | Not for loan | Collection code | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Accession Number | Price effective from | Koha item type |
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Not For Loan | Reference | S. R. Ranganathan Learning Hub | S. R. Ranganathan Learning Hub | Course Reserve | 2024-01-30 | 621.8 G552I | TM00154 | 2024-01-30 | Thesis |