152. prediction-based control of 7-dof baxter with input delay

Department: Mechanical & Aerospace Engineering
Faculty Advisor(s): Miroslav Krstic

Primary Student
Name: Mostafa Bagheri
Email: mobagher@ucsd.edu
Phone: 858-534-5670
Grad Year: 2019

Abstract
Robots are widely utilized in the industry due to their reliable, fast, and precise motions. However, the time delay is ubiquitous in physical systems and engineering applications, including telesurgery and space robotics. It is worth mentioning that a delay in a control loop is an important cause of instability. This motivation led us to examine the effect of input-delay in 7-DOF Baxter and design time delay compensator. First, coupled nonlinear dynamic equations of Baxter were derived using the Lagrangian method, and we verified our model experimentally. Then, we designed a nonlinear predictor-based controller for Baxter. Finally, results are experimentally implemented, and performance of controllers with/without the compensator are compared.

Industry Application Area(s)
Aerospace, Defense, Security | Control Systems

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