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ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino - PowerPoint PPT Presentation

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ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Control Part 3 Robust Control Basilio Bona - DAUIN - PoliTo 3 ROBOTICS 01PEEQW - 2014/2015 Robust Control Basilio Bona - DAUIN - PoliTo 4 ROBOTICS 01PEEQW - 2014/2015

  1. ROBOTICS 01PEEQW Basilio Bona DAUIN – Politecnico di Torino

  2. Control – Part 3

  3. Robust Control Basilio Bona - DAUIN - PoliTo 3 ROBOTICS 01PEEQW - 2014/2015

  4. Robust Control Basilio Bona - DAUIN - PoliTo 4 ROBOTICS 01PEEQW - 2014/2015

  5. Robust Control Basilio Bona - DAUIN - PoliTo 5 ROBOTICS 01PEEQW - 2014/2015

  6. Robust Control Basilio Bona - DAUIN - PoliTo 6 ROBOTICS 01PEEQW - 2014/2015

  7. Robust Control Basilio Bona - DAUIN - PoliTo 7 ROBOTICS 01PEEQW - 2014/2015

  8. Robust Control Basilio Bona - DAUIN - PoliTo 8 ROBOTICS 01PEEQW - 2014/2015

  9. Robust Control (A) Basilio Bona - DAUIN - PoliTo 9 ROBOTICS 01PEEQW - 2014/2015

  10. Robust Control Basilio Bona - DAUIN - PoliTo 10 ROBOTICS 01PEEQW - 2014/2015

  11. Robust Control Basilio Bona - DAUIN - PoliTo 11 ROBOTICS 01PEEQW - 2014/2015

  12. Robust Control Basilio Bona - DAUIN - PoliTo 12 ROBOTICS 01PEEQW - 2014/2015

  13. Robust Control Basilio Bona - DAUIN - PoliTo 13 ROBOTICS 01PEEQW - 2014/2015

  14. Adaptive Control Basilio Bona - DAUIN - PoliTo 14 ROBOTICS 01PEEQW - 2014/2015

  15. Fundamental properties of the robot equation Basilio Bona - DAUIN - PoliTo 15 ROBOTICS 01PEEQW - 2014/2015

  16. Fundamental properties of the robot equation Basilio Bona - DAUIN - PoliTo 16 ROBOTICS 01PEEQW - 2014/2015

  17. Methods based on inverse dynamics Basilio Bona - DAUIN - PoliTo 17 ROBOTICS 01PEEQW - 2014/2015

  18. Inverse dynamics with known parameters (1) (2) (3) Basilio Bona - DAUIN - PoliTo 18 ROBOTICS 01PEEQW - 2014/2015

  19. Inverse dynamics with known parameters (4) (5) (6) Basilio Bona - DAUIN - PoliTo 19 ROBOTICS 01PEEQW - 2014/2015

  20. Craig’s Method (M1) (7) (8) Basilio Bona - DAUIN - PoliTo 20 ROBOTICS 01PEEQW - 2014/2015

  21. Craig’s Method (M1) (9) Basilio Bona - DAUIN - PoliTo 21 ROBOTICS 01PEEQW - 2014/2015

  22. Craig’s Method (M1) (10) Basilio Bona - DAUIN - PoliTo 22 ROBOTICS 01PEEQW - 2014/2015

  23. Craig’s Method (M1) (11) Basilio Bona - DAUIN - PoliTo 23 ROBOTICS 01PEEQW - 2014/2015

  24. Proof Basilio Bona - DAUIN - PoliTo 24 ROBOTICS 01PEEQW - 2014/2015

  25. Proof Basilio Bona - DAUIN - PoliTo 25 ROBOTICS 01PEEQW - 2014/2015

  26. Craig’s method (M1) block diagram ˆ(0) θ T T − 1 ˆ( , ) Γ Φ B P ∫ g q ˆ( ) ɺ C q q ɺɺ q a ˆ( ) ɺ ɺɺ q q H q ROBOT r q ɺ e ɺ q K r D e q K r P Basilio Bona - DAUIN - PoliTo 26 ROBOTICS 01PEEQW - 2014/2015

  27. Some observations Basilio Bona - DAUIN - PoliTo 27 ROBOTICS 01PEEQW - 2014/2015

  28. Spong’s method (M2) (12) Basilio Bona - DAUIN - PoliTo 28 ROBOTICS 01PEEQW - 2014/2015

  29. Spong’s method (M2) Basilio Bona - DAUIN - PoliTo 29 ROBOTICS 01PEEQW - 2014/2015

  30. Spong’s method (M2) Basilio Bona - DAUIN - PoliTo 30 ROBOTICS 01PEEQW - 2014/2015

  31. Spong’s method (M2) Basilio Bona - DAUIN - PoliTo 31 ROBOTICS 01PEEQW - 2014/2015

  32. Spong’s method (M2) Basilio Bona - DAUIN - PoliTo 32 ROBOTICS 01PEEQW - 2014/2015

  33. Amestagui’s method (M3) Basilio Bona - DAUIN - PoliTo 33 ROBOTICS 01PEEQW - 2014/2015

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ROBOTICS ROBOTICS 01PEEQW 01PEEQW 01PEEQW 01PEEQW Basilio Bona Basilio Bona DAUIN DAUIN Politecnico di Torino Politecnico di Torino Schedule March June 2014 Mon 11:30 13:00 Room 5I Tue Tue 08:30 11:30

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