Control systems for a robot gripper

Kelm, Jonathon C.

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dc.contributor.author	Kelm, Jonathon C.
dc.contributor.other	Youngstown State University. Department of Electrical Engineering.
dc.date.accessioned	2021-05-25T15:43:16Z
dc.date.available	2021-05-25T15:43:16Z
dc.date.issued	2005
dc.identifier.other	B1973315x
dc.identifier.other	61749184
dc.identifier.uri	https://jupiter.ysu.edu:443/record=b1973315
dc.identifier.uri	http://hdl.handle.net/1989/16309
dc.description	xiii, 91 leaves : ill. ; 29 cm. Thesis (M.S.)--Youngstown State University, 2005. Includes bibliographical references (leaves 90-91).	en_US
dc.description.abstract	The fundamental issues in modeling and "executive level" control of a three-link, three-joint robotic arm-gripper system are presented. First, a mathematical model of the mechanism is developed. This model is coupled with a model of a DC permanent magnet motor, as an actuator, to obtain an overall system model. This model is used to design and simulate five local control systems for the independent control of the joints in the arm portion of the arm-gripper system. The control systems developed are a simple feedback system, a position servo system, a position servo system with direct gravity compensation, a state-feedback control system designed based on pole placement, and a PID controller. The effect of gravity moment upon the system response is examined, and the performance of each control system is analyzed. The performance of each controller is quantified by the settling time, percent overshoot, and steady-state error metrics. The position servo system with gravity compensator is found to be the best overall control system approach.	en_US
dc.description.sponsorship	Youngstown State University. Department of Electrical Engineering.	en_US
dc.language.iso	en_US	en_US
dc.relation.ispartofseries	Master's Theses;no. 0875
dc.subject	Robots -- Control systems.	en_US
dc.subject	Robotics.	en_US
dc.title	Control systems for a robot gripper	en_US
dc.type	Thesis	en_US

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