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Improvement of the UTIAS adaptive motion drive algorithm 1 edition

Improvement of the UTIAS adaptive motion drive algorithm
Amir Reza Naseri


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Improvement of the UTIAS adaptive motion drive algorithm.

Published 2006 .
Written in English.

About the Book

The UTIAS adaptive motion drive algorithm was investigated for previously documented oscillations in the simulator response. Adaptive step size gain in the steepest descent algorithm was employed. Adaptation is based on the position and velocity of the simulator motion system. Use of adaptive step size gain minimized oscillations in the simulator response for large amplitude inputs, and it had no significant effect on simulator response for inputs with small magnitudes.Furthermore, a new actuator state based adaptive motion drive algorithm that takes into account the parallel architecture of the traditional Stewart platform was developed. As opposed to traditional inertial cartesian adaptive algorithms, the proposed actuator state based adaptive algorithm cost function directly employs the simulator actuator states. Therefore it implicitly accounts for the coupling between degrees-of-freedom in the workspace that exist when the motion is expressed in Cartesian coordinates. This algorithm was compared to the UTIAS adaptive motion drive algorithm using simple step inputs.

Edition Notes

Source: Masters Abstracts International, Volume: 44-06, page: 2868.

Thesis (M.A.Sc.)--University of Toronto, 2006.

Includes bibliographical references.

Electronic version licensed for access by U. of T. users.

ROBARTS MICROTEXT copy on microfiche.

The Physical Object

58 leaves.
Number of pages

ID Numbers

Open Library

History Created December 11, 2009 · 2 revisions Download catalog record: RDF / JSON

January 24, 2010 Edited by WorkBot add more information to works
December 11, 2009 Created by WorkBot add works page