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University of Toronto

1. Martino, Guidolin Matthew. A Reach Control Approach to Bumpless Transfer of Robotic Manipulators.

Degree: 2014, University of Toronto

This thesis focuses on the modelling, control design, and simulations for executing a robotic manipulation task to approach and maintain contact with a solid environment. The task involves a transition between position and force control, which may result in bouncing. This thesis shows that the bumpless transfer problem (achieving no bouncing) can be formulated and solved using the reach control problem (RCP), a methodology that emphasizes the control of transient behaviour. To that end, analysis of a given force control scheme leads to the formulation of logic control specifications (a tool used in RCP designs), and a polytopic state space that restricts the manipulator states to trajectories that achieve bumpless transfer. Then, a hybrid controller is developed which consists of so-called reach controllers, a given force controller, and a switching logic. Finally, the proposed methodology is simulated for the Special Purpose Dextrous Manipulator, which executes the task without bouncing.

M.A.S.

Advisors/Committee Members: Broucke, E Mireille, Electrical and Computer Engineering.

Subjects/Keywords: Bumpless Transfer; Force Control; Hybrid Systems; Reach Control Problem; Robotic Manipulator; 0544

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Martino, G. M. (2014). A Reach Control Approach to Bumpless Transfer of Robotic Manipulators. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/67898

Chicago Manual of Style (16th Edition):

Martino, Guidolin Matthew. “A Reach Control Approach to Bumpless Transfer of Robotic Manipulators.” 2014. Masters Thesis, University of Toronto. Accessed April 02, 2020. http://hdl.handle.net/1807/67898.

MLA Handbook (7th Edition):

Martino, Guidolin Matthew. “A Reach Control Approach to Bumpless Transfer of Robotic Manipulators.” 2014. Web. 02 Apr 2020.

Vancouver:

Martino GM. A Reach Control Approach to Bumpless Transfer of Robotic Manipulators. [Internet] [Masters thesis]. University of Toronto; 2014. [cited 2020 Apr 02]. Available from: http://hdl.handle.net/1807/67898.

Council of Science Editors:

Martino GM. A Reach Control Approach to Bumpless Transfer of Robotic Manipulators. [Masters Thesis]. University of Toronto; 2014. Available from: http://hdl.handle.net/1807/67898

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