Date of Award

2009

Degree Type

Thesis

Department

Electrical and Computer Engineering

First Advisor

Alexander, Charles

Subject Headings

Robotics, Automatic control, Process control, ADRC, Robotics, Active disturbance rejection control

Abstract

Conventional robotics control has been set in stone since the sixties. The world has been waiting too long for a new age of control to change the world of Robotics. Active Disturbance Rejection Control (ADRC) is a newly reformed Control methodology. It has been used, in very limited applications, as a replacement for PID control. In this thesis, I will cover the different aspects of the kinematics and dynamics of a robotic manipulator. I will also examine the feasibility of using ADRC to control a robotic manipulator. To explain ADRC, a simple example that demonstrates the concepts and theory of Active Disturbance Rejection Control will be discussed. Using this example, the establishment of relevance to the mathematical module of a rotary prismatic robotic manipulator will be accomplished. A control system for the module using Matlab software and mathematical computations will be implemented

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