Scholarship 22/06816-1 - Controle de vibrações, Manipuladores paralelos - BV FAPESP
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Dynamic Model-Free Control of Parallel Planar Manipulators with Flexible Links

Grant number: 22/06816-1
Support Opportunities:Scholarships in Brazil - Master
Start date until: December 01, 2022
End date until: 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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Academic Publications
(References retrieved automatically from State of São Paulo Research Institutions)
OLIVEIRA, Gustavo Corrêa de. Dynamic model-free control of a parallel planar manipulator with flexible links. 2024. Master's Dissertation - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) São Carlos.

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