Anna Costalonga will present her Master thesis.
|Starts||30 March 2017, at 10:30|
|Ends||30 March 2017, at 11:30|
The aim of this thesis was the control and the modelling of a ten degrees of freedom robotic dancer prototype, equipped with pneumatic muscles as the corresponding actuators. Initially the thesis will cover an overview of the area, in the form of a survey, or related works and applications, followed by the modeling and control part.
The modelling part will investigate: a) the procedure used in order to obtain the direct kinematics equations, b) the optimization procedure utilized for solving the inverse kinematics problem, and c) the dynamic model's equation derivation, where the actuators and their model will be taken under consideration.
The control part of the thesis will focus on the development of a proper control scheme and a corresponding experimental evaluation of the robot performance. The global structure will be considered as the union of different DOFs, each of them controlled by a tuned PID. Multiple simulation and experimental results will be be presented to prove the applicability and the performance of the proposed modeling and control framework.