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Theses

Control-based design of Robots

Abstract : It is well -known that parallel robots have a lot of applications in industry for their high stiffness , high payload , can reach higher acceleration and speed . However , because of their complex structure , their control may be troublesome. When high accuracy is needed, the detailed robot model is necessary . However , even detailed models still suffer from the problem of inaccuracy in reality because of robot assembly and manufacturing errors . Sensor - based control approaches have been proven to be more efficient than model-based controllers in terms of accuracy since they overcome the complex robot models and inconsistency errors. Nevertheless, when applying the visual servoing, there are always some problems in the control process , such as the controller singularities . Thus , this thesis proposes proposes a control based design metodology which takes into account the accuracy performance of the controller in the design process to get the geometric parameters of the robot. This thesis applied the control-based design methodology to the optimal design of three types of parallel robots: Five-bar mechanisms , DELTA robots , Gough -Stewart platforms . Three types of controllers are selected in the design process : leg -direction -based visual servoing, line-baesd visual servoing and image moment visual servoing . Design optimization problems are formulated to find the geometric parameters of the robot . Co-simulations are performed to check the accuracy performance of the robots obtained from the optimization. Experiments are performed with two DELTA robot prototypes in order to validate the controller accuracy.
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https://tel.archives-ouvertes.fr/tel-03257888
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Submitted on : Friday, June 11, 2021 - 10:52:10 AM
Last modification on : Tuesday, July 13, 2021 - 5:21:10 PM

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  • HAL Id : tel-03257888, version 1

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Minglei Zhu. Control-based design of Robots. Automatic. École centrale de Nantes, 2020. English. ⟨NNT : 2020ECDN0043⟩. ⟨tel-03257888⟩

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