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In this project the control of the gait of a seven degree of freedom biped robot restricted to the sagittal plane is investigated. The gait of the biped is modeled as a hybrid system of four states, corresponding to four relevant phases of the gait. The modeling of the impact between the feet and the ground results in a non-continuous relationship between the coordinate velocities before and after
The work present in this master thesis relates to output feedback adaptive control and observer design of nonlinear systems, and in particular of robot manipulators. A continuous-time velocity observer and a discrete-time adaptive velocity observer for robots are shown, and an observer backstepping controller is also proposed, which can be used together with both the observers. The resulting close
Traditional Ethernet networks are not suitable for real-time communication due to the nondeterministic handling of the network communication. The reason for the nondeterministic behavior is the CSMA/CD access control protocol that is used when the media is shared. The protocol can cause collision in the transmission. If this happens the transmission ceases and after a random amount of time a ret
This master's thesis discusses the real-time issues of the operating system used by the Ericsson Bluetooth stack and the effects of replacing this operating system. The practical part consists of switching the operating system for the Ericsson Bluetooth stack and verifying if it still is operational and fulfils all timing requirements
This report is about the work that we have performed during Autumn 2001 at Botech AB. The purpose with this work was to further develop an existing product named Hubit. Hubit is a compact computer that is running Linux and has limited resources when it comes to memory and storage. Hubit is designed to monitor and collect data from controller systems. The two main objectives that we were about to d
Our problem considered was whether a virtual environment could be used for development of visual servoing control algorithms.
We have used a virtual environment for the comparison of several kinds of controllers. The virtual environment is done in Java, and it consists of two industrial robots, IRB 2000 and IRB 6, a camera stereo system with two cameras mounted on the end-effector of the IRB 6,
The thesis describes the development of a dynamic model of a microturbine system. The thesis is done in close cooperation with Turbec AB and the model is adjusted, tuned and verified against their microturbine T100. The microturbine unit consists of a compressor and a turbine connected on a single shaft to a high-speed generator. Moreover there is a combustion chamber, a recuperator and a gas/w
Brake-By-Wire means that the hydraulic-mechanical brake system in a car is partly or completely replaced with an electronic/electromechanical brake system. Brake-By-Wire systems are safety critical. A Brake-By-Wire system must also be fault tolerant and have a dependable real-time performance. One communication protocol that is developed to meet these requirements is called TTP/C (Time Triggered P
In this study, it is investigated how different parameters influence 16QAM modulation. The focus is on how different parameters in the Automatic Gain Control algorithm influence raw bit error rates, but other parameters such as frequency error and misplaced decision levels are also investigated. The goal is not to develop optimal parameter configurations, but to gain some understanding on what par
This report contains a study on inertial parameter estimation for application in robot control. Symbolic manipulation using Maple is applied to support the estimation efforts.
In this thesis a visual servoing approach for uncalibrated systems with 6 degrees of freedom (DOF) is evaluated. Assuming weak perspective, the observed motions of the robot end-effector are constrained to affine trans-formations in the image space. This allows us to express the control error directly in terms of an affine transformation in the camera images. By this approach, visual servoing is r
In order to minimise development time it is important to be able to implement and test control functions at an early stage in a project, even before the electronic hardware of the new product is available. For this purpose, a PC based rapid prototyping system including a graphical modelling/simulation tool and automatic C code generation for real-time simulations with hardware in the loop may be u
In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this fo
Robot control systems and other manufacturing equipment are traditionally closed systems. This circumstance has hampered system integration of manipulators, sensors as well as other equipment, and such system integration has often been made at an unsuitably high hierarchical level. With the aid of vision, visual feedback is used to guide the robot manipulator to the target. This hand-to-target tas
Robot control systems are traditionally closed system. With the aid of vision, visual feedback is used to guide the robot manipulator to the target in a similar manner as humans do. This hand-to-target task is fairly easy if the target is static in Cartesian space. However, if the target is dynamics in motion, a model of this dynamical behaviour is required in order for the robot to predict or tra
The development of steer-by-wire involves an increased amount of possibilities for control in future cars. For example, the experimental vehicle available has both front and rear wheel steering. This enables a simultaneous multivariable control of both the yaw rate and the side slip angle. The today existing control approach is designed in the time domain and it has a decoupled control structure,
This report summarizes a master-thesis project where the goal has been to control a submarine vehicle. The vehicle is used to take video films of the bottom of the sea. For this reason, it is desired to keep the vehicle at a constant distance over the sea bottom. The workconsist of a model-building phase, where a frequency-response experiment is performed on the vehicle. Based on this model, sever
Recent progress in parameterization of linear robust controllers has made it possible to investigate advanced controller specifications numerically using convex optimization. The main focus of this thesis project is to investigate how to design a LTI controller for a LTI plant using convex optimization, particularly Linear Programming technique. The concerned performance specification is defined a
This master's thesis involves design and implementation of an infrared link between an air diffuser and a Palm handheld computer. The diffuser, IDCC (Intelligent Diffuser for Climate Control), is developed by LindinVent AB. The application can download current controller variables and parameters and send new parameters to the diffuser. For adjusting parameters on the Palm an intuitive graphica
This master thesis evaluates control algorithms for control applications using Bluetooth in the loop. It is done in order to investigate whether Bluetooth can be used in hard real-time control loops or not. The control algorithms suggested in this work are evaluated on a real process, the Furuta pendulum, due to the unstable nature of the process. This will assure that the Bluetooth communicati
