| Grant number: | 22/06816-1 |
| Support Opportunities: | Scholarships in Brazil - Master |
| Start date: | December 01, 2022 |
| End date: | July 31, 2024 |
| Field of knowledge: | Engineering - Mechanical Engineering - Mechanical Engineering Design |
| Principal Investigator: | Maira Martins da Silva |
| Grantee: | Gustavo Corrêa de Oliveira |
| Host Institution: | Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil |
Abstract Parallel manipulators may have higher speed/acceleration ratios and energy efficiency when compared with serial manipulators. In addition, reducing their components' inertia can further improve performance. However, this design alternative might yield vibrations requiring the implementation of novel joint and task space control strategies. While the former involves precise models, the latter might require adequate computation vision schemes. These requirements impose critical challenges. In this research project, two model-free control strategies are proposed and experimentally investigated using a 3RRR with flexible links. The first strategy comprises a single control loop: a position-based visual servo scheme. The second strategy is composed of two control loops: a position-based visual servo and strain-based feedback control schemes. The strain-based loop uses a sliding mode control using the signals obtained by strain gauges installed in the flexible links. Contributions to understanding the role of flexibility in robotic applications are expected. | |
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