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Towards high speed parallel kinematic machines, Phase II: instrumentation, modeling and control of a flexible manipulator

Grant number: 18/21336-0
Support type:Regular Research Grants
Duration: May 01, 2019 - April 30, 2021
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Maira Martins da Silva
Grantee:Maira Martins da Silva
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil


The design of high-performance manipulators requires not only a proper choice of the kinematic architecture but also the reduction of its inertia and the use of more advanced control strategies. Although parallel kinematic machines have a high dynamic capacity, the complexity of their control strategies imposes an important technical difficulty for their applicability. This complexity arises due to the lack of a direct measurement of the position of the manipulator's end-effector. This may be more critical if the manipulators under study are subject to vibrations due to the flexibility of their components. In this project, alternatives for controlling the position of the end-effector of a planar 3RRR manipulator with flexible links will be investigated. The design of control systems for this kind of system requires more accurate state estimation algorithms to be used in the feedback or feedforward control strategies. These estimates can be made indirectly from the data acquired using sensors installed in the system (encoders, strain gauges, and a camera) and dynamic models. This data will be treated using Sensor Fusion techniques. These estimations can be used for a better understanding of the design trade-offs, for improving the system performance and stability using control techniques, for data monitoring for diagnoses, among others. (AU)