Modelling and control system of a six degree-of-freedom robotic manipulator for shipbuilding welding

Abstract

This thesis described the control system design of a six-degree-of-freedom robotic manipulator with welding tools on a hexapod walking platform. To begin with, past studies on control systems, hexapod walking robots, welding techniques, and the current type of mobile welding robots are reviewed. Then, the paper explained several key elements and features of a control system design, including DH Parameter, Jacobian, Euler-Lagrange equation, and adaptive control. An elementary control system is designed for a specific design of robotic manipulator. The designed system is then taken into simulation software (ADAMS and MATLAB) for feasibility testing. A PD control system is added when simulation is carried out in MATLAB to find out reliability of the system under unstable environment. Finally, a conclusion is drawn from the result that this system is working but the stability of end effector can still be improved through application of higher level of control system like PID controller.

Date of Award	Jul 2022
Original language	English
Awarding Institution	University of Nottingham
Supervisor	Liang Huang (Supervisor) & Adam Rushworth (Supervisor)