Predictive control for a throttle Dynamics and control of manipulating robots

Dynamics and Control of manipulating robots currently isa maj or field of research in robotics. Various methods ofefficiently formulating the non-linear dynamics have beenproposed with an emphasis on reducing the computationsneccesary to solve the dynamics. Several control concepts andalgorithms have been suggested.This thesis develops a dynamic simulator written in PL/lfor a general n-degree of freedom manipulator which can beused to evaluate the performance of different control algo-ri thms.. The dynamics is based on the Newton-Euler formu-lation. Three different control algorithms are simulated andtheir performance is compared with respect to trackingerror,control input requirement and computational efficiency•The three algorithms studied areControl based on nominal and perturbed inputs with theperturbed input computed from a linearised model of themanipulator about its nominal trajectory.