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Control of parallel planar manipulators with flexible links

Grant number: 18/22760-0
Support type:Scholarships in Brazil - Doctorate
Effective date (Start): January 01, 2019
Effective date (End): August 31, 2021
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Maira Martins da Silva
Grantee:Fernanda Thaís Colombo
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil


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)