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dc.contributorWahle, Martin
dc.contributor.authorLores Garcia, Eduard
dc.description.abstractThe major scope of this thesis was the improvement of the accuracy of the Pentapod for slow movements. Consequently, all the work was divided into four distinct parts. First of all, the study of the tendency of the gravity forces took place. Thus, four different models were implemented. Once the three best were chosen, a comparison between them was performed. As the models displayed nearly the same results, the fastest to be compiled was chosen. Afterwards, the analysis of the behaviour of the friction force was developed. Prior to this step, the adequate data had to be created. Once the friction model for all the actuators was obtained, the implementation of both models (gravity and friction) into the control system was performed. At this point, a special block to avoid force discontinuities at the beginning of the movement was implemented. Finally, the old and the new control system implemented were compared. Moreover, the comparison allowed to know which forces exert the biggest influence on the Pentapod. At the end, the motion errors decreased and the precision of the parallel manipulator was improved.
dc.publisherUniversitat Politècnica de Catalunya
dc.publisherRheinisch-Westfälische Technische Hochschule Aachen
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshRobots -- Control systems
dc.subject.lcshRobots -- Programming
dc.subject.lcshParallel processing (Electronic computers)
dc.titleModel-based friction control of a parallel robot of DOF 5
dc.typeMaster thesis (pre-Bologna period)
dc.subject.lemacRobots -- Sistemes de control
dc.subject.lemacRobots -- Programació
dc.subject.lemacProcessament en paral·lel (Ordinadors)
dc.rights.accessRestricted access - author's decision
dc.audience.educationlevelEstudis de primer/segon cicle
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria Industrial de Barcelona
dc.provenanceAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web

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