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[Th005] Citation: P. Braathen, 'Design and Evaluation of Nonlinear Sliding Mode Control for Manipulators in a Bilateral Teleoperation System,'
MSEE Thesis, Norwegian Institute of Technology / University of Washington, Feb. 1993.
Abstract
First, the dynamics of a manipulator is developed and a
multivariable sliding mode controller for a manipulator is simulated.
The controller's ability to compensate for nonlinearities and
uncertainties in the dynamics of the manipulator is investigated. A
method is presented for using sensor information to dynamically change
the controller without adapting parameters in the model. Next,
experiments are done on a single axis teleoperation system. A sliding
mode controller is implemented in the system, and a method for
evaluation and comparison between different controllers is presented.
Finally, experiments are done that show the differences between the
sliding mode controller and two linear controllers.
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Updated: Tue Jul 15 23:54:48 2008
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