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Modellering og kontroll av fleksible lenke-manipulatorer

Dipendra Subedi fra Fakultet for teknologi og realfag ved UiA disputerer for ph.d.-graden med avhandlingen «Modeling and Control of Flexible Link Manipulators» tirsdag 13. september 2022. (Foto: Privat)

The thesis aims at presenting a unified understanding of modeling, control, and application of long-reach flexible manipulators. State-of-the-art dynamic modeling techniques and control schemes of the flexible link manipulators are discussed along with their merits, limitations, and challenges.

Dipendra Subedi

Ph.d.-kandidat

Dipendra Subedi fra Fakultet for teknologi og realfag ved UiA disputerer for ph.d.-graden med avhandlingen «Modeling and Control of Flexible Link Manipulators» tirsdag 13. september 2022.

Han har fulgt doktorgradsprogrammet ved Fakultet for teknologi og realfag ved UiA, med spesialisering i ingeniørvitenskap , forskningsområde mekatronikk.

Doktorgradsarbeidet er finansiert av Norges forskningsråd gjennom prosjekt 237896 ved UiAs SFI Offshore Centre.

Les Dipendra Subedis oppsummering av avhandlingen:

Modeling and Control of Flexible Link Manipulators

Autonomous maritime navigation and offshore operations have gained wide attention with the aim of reducing operational costs and increasing reliability and safety.

Autonomously or semi-autonomously operations

Offshore operations, such as wind farm inspection, sea farm cleaning, and ship mooring, could be carried out autonomously or semi-autonomously by mounting one or more long-reach robots on the ship/vessel.

In addition to offshore applications, long-reach manipulators can be used in many other engineering applications such as construction automation, aerospace industry, and space research.

Some applications require the design of long and slender mechanical structures, which possess some degrees of flexibility and deflections because of the material used and the length of the links. The link elasticity causes deflection leading to problems in precise position control of the end-effector.

So, it is necessary to compensate for the deflection of the long-reach arm to fully utilize the long-reach lightweight flexible manipulators.

A unified understanding

The thesis aims at presenting a unified understanding of modeling, control, and application of long-reach flexible manipulators.

State-of-the-art dynamic modeling techniques and control schemes of the flexible link manipulators are discussed along with their merits, limitations, and challenges.

The kinematics and dynamics of a planar multi-link flexible manipulator are presented.

The effects of robot configuration and payload on the mode shapes and eigenfrequencies of the flexible links are discussed.

A method to estimate and compensate for the static deflection of the multi-link flexible manipulators under gravity is proposed and experimentally validated.

The redundant degree of freedom of the planar multi-link flexible manipulator is exploited to minimize vibrations.

The application of a long-reach arm in autonomous mooring operation based on sensor fusion using camera and LiDAR data is proposed.

 

Disputasfakta:

Prøveforelesning og disputas finner sted i Auditorium C2 040, Campus Grimstad og digitalt i konferanseprogrammet Zoom (lenke under).

Disputasen blir ledet av førsteamanuensis Margrethe Wold, Fakultet for teknologi og realfag, Universitetet i Agder.

Prøveforelesning tirsdag 13. september kl 10:15

Disputas tirsdag 13. september kl 12:15

 

Oppgitt emne for prøveforelesning«Force control of robotic manipulators: state of the art and current challenges»

Tittel på avhandling«Modeling and Control of Flexible Link Manipulators»

Søk etter avhandlingen i AURA - Agder University Research Archive, som er et digitalt arkiv for vitenskapelige artikler, avhandlinger og masteroppgaver fra ansatte og studenter ved Universitetet i Agder. AURA blir jevnlig oppdatert.

Avhandlingen er tilgjengelig her:

https://uia.brage.unit.no/uia-xmlui/handle/11250/3021841

 

KandidatenDipendra Subedi (16.02.1993, Baglung, Nepal) Bachelor of Engineering (Electrical and Electronics Engineering) Anna University, India (2014), MSc. (Advanced Robotics) I Year - University of Genoa, Italy (2016), MSc. (Advanced Robotics) II Year - Jaume I University, Spain (2017)

Opponenter:

Førsteopponent: Førsteamanuensis (førstelektor ph.d.) Yiannis Karayiannidis, Lunds Universitet, Sverige

Annenopponent: Professor Jan Tommy Gravdahl, NTNU

Bedømmelseskomitéen er ledet av førsteamanuensis Souman Rudra, Universitetet i Agder

Veiledere i doktorgradsarbeidet var førsteamanuensis Ilya Tyapin, Universitetet i Agder (hovedveileder) og professor Geir Hovland, Universitetet i Agder (medveileder)