Control of parallel planar manipulators with flexible links

• Grant number: 18/22760-0
• Support Opportunities: Scholarships in Brazil - Doctorate
• Start date: January 01, 2019
• End date: January 31, 2022
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Maira Martins da Silva
• Grantee: Fernanda Thaís Colombo
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated scholarship(s): 19/23004-8 - Understanding the role of the flexibility in robotic manipulators: a cable-driven parallel robot case study, BE.EP.DR

Abstract

The design of high dynamic performance manipulators requires not only a proper choice of the kinematic architecture but also the reduction of their inertia and the use of more advanced control strategies. Although parallel kinematic machines present high dynamic capacities, the complexity of their control strategies imposes a 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 parallel manipulator with flexible links will be investigated. The estimation of the Cartesian space will be performed by indirect measurements and sensor fusion. In addition, three feedback control strategies in the Cartesian space will be exploited. The control strategies are: (1) PID in the Cartesian space using the motors as actuators; (2) PID in the Cartesian space using the motors as actuators and negative velocity feedback using the MFCs as actuators; (3) model predictive control using the motors and the MFCs as actuators. The outcome of this project is the proposal of alternatives to control high dynamic performance parallel manipulators. (AU)

Scientific publications

(4)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

COLOMBO, FERNANDA THAIS; DA SILVA, MAIRA MARTINS. Deriving suitable models for model-based control design of a parallel manipulator with flexible components. JOURNAL OF VIBRATION AND CONTROL, v. N/A, p. 13-pg., 2022-11-25. (18/22760-0, 18/21336-0)

COLOMBO, FERNANDA THAIS; SILVA, MAIRA MARTINS DA. Two hybrid model-based control strategies for a flexible parallel planar manipulator. CONTROL ENGINEERING PRACTICE, v. 127, p. 9-pg., 2022-08-12. (18/22760-0, 18/21336-0)

DE CARVALHO FONTES, JOAO VITOR; COLOMBO, FERNANDA THAIS; FLORO DA SILVA, NATASSYA BARLATE; DA SILVA, MAIRA MARTINS. Model-based joint and task space control strategies for a kinematically redundant parallel manipulator. ROBOTICA, v. 40, n. 5, p. 17-pg., 2022-05-01. (18/22760-0, 18/21336-0)

COLOMBO, FERNANDA THAIS; DA SILVA, MAIRA MARTINS. A comparison between gain-scheduling linear quadratic regulator and model predictive control for a manipulator with flexible components. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, v. 236, n. 7, p. 9-pg., 2022-04-05. (18/22760-0, 18/21336-0)