Task-Oriented Servo Loops Control of a 6-DOF Manipulator for Rescue Robot

The thesis research aimed to develop a novel approach to model and control a 6-DOF manipulator for specific tasks. The modeling and control method take into account velocity of the dynamical model. The camera and acquisition system were developed in order to significantly increase the bandwidth of the manipulator. Multi-Input and Multi-Output (MIMO) is used to optimally control the visual loop with respect to the proposed dynamical model. Experimental results on a 6-DOF manipulator for rescue robot are presented that validate the proposed model. Furthermore, a precise synchronization method is used to reduce the delays of image transfer and processing. The experiment results show a biggish improvement of the loop performance with respect to more classical control methods for 6-DOF manipulator.