D6.2 - An integrated design procedure and high-performance robust control algorithm for robotic manipulators with

Lead Investigator: Prof. James Taylor

Contact: c.taylor@lancaster.ac.uk (please CC a.montazeri@lancaster.ac.uk)

This project focused on developing an integrated design procedure and high-performance robust control algorithm for robotic manipulators with uncertain and nonlinear dynamics.

• An integrated, state-dependent design procedure for input signal calibration, nonlinear system identification and robust adaptive control system design.
• The technology has been developed by the NCNR for either tele-operation (low-level control of joint angle for faster, smoother movement) or semi-autonomous control (including computer vision and optimisation module for decisionmaking) of manipulators.
• Straightforward recalibration when dynamic characteristics of the robot have changed or the actuators have deteriorated due to age or contamination.
• This technology has been developed and evaluated within the NCNR for heavy duty hydraulic manipulators, as relevant to nuclear decommissioning (TRL3: laboratory evaluation for dual manipulator BROKK system with semi-autonomous cutting of aluminium pipes) and civil construction. (TRL 5), and other industries that sometimes require high power-to-weight ratios.
• The underlying technology is based on state-dependent parameter models in which the model coefficients are identified as functions of measured variables, hence the algorithms developed are also applicable to other types of robotic actuators (pneumatic, electrical) and nonlinear control problems more generally.