Dynamic Modelling and Control of Exoskeleton Gantry Robot
2024
No Thumbnail Available
View/Download File
Persistent link to this item
Statistics
View StatisticsJournal Title
Journal ISSN
Volume Title
Title
Dynamic Modelling and Control of Exoskeleton Gantry Robot
Authors
Published Date
2024
Publisher
Type
Other
Abstract
This thesis presents the development and analysis of dynamic model of an exoskeleton gantry used to perform brain studies in freely moving mice for neuroscience experiments. The dynamic of model of the exoskeleton gantry comprised of X and Y stages is developed, and relevant system characteristics like bandwidth and stability are studied using theoretical model to predict the system behavior. The predicted bandwidth of the open loop system is found to be 1.9Hz and 3.8Hz
for the Stage X and Y respectively using the theoretical model. The open loop system was further verified experimentally using LABVIEW and an experimental model was generated using computer software. According to the experimental results, the open-loop bandwidth of the X and Y stages was found to be 2.3 Hz and 2.76 Hz respectively. Furthermore, the open loop system is also used to gauge the stability of the closed-loop and the gain and phase margin are studied for the same purpose. According to theoretical studies, it is expected that the bandwidth of the open and closed loop system is expected to increase with a decrease in payload. The gain margin and phase margin are predicted theoretically and verified experimentally are well above the determined threshold of 2dB for gain margin and 450 for phase margin, this ensures the stability of the closed loop exoskeleton system. Moreover, the closed-loop bandwidth of the system is predicted using
the theoretical model and an admittance control framework is proposed. The predicted closed-loop bandwidth for the exoskeleton gantry is found to be 19.2Hz and 16.4Hz for X and Y stages respectively. Furthermore, preliminary experimentation of the gantry with admittance control
implementation suggests a closed loop bandwidth of 46Hz for Stage X.
Description
Related to
Replaces
License
Collections
Series/Report Number
Funding information
Isbn identifier
Doi identifier
Previously Published Citation
Suggested citation
Content distributed via the University Digital Conservancy may be subject to additional license and use restrictions applied by the depositor. By using these files, users agree to the Terms of Use. Materials in the UDC may contain content that is disturbing and/or harmful. For more information, please see our statement on harmful content in digital repositories.