Controllers certification.

• Grant number: 22/16048-1
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: March 01, 2023
• End date: February 29, 2024
• Field of knowledge: Engineering - Electrical Engineering
• Principal Investigator: Thiago Boaventura Cunha
• Grantee: Alexandre Silva de Gênova
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP

Abstract

Controllers can be unstable several times when implemented in the real system, although they were stable in preliminary analysis of simulation. To make sure a controller will be stable in a real system, real system data must be obtained, ensuring, thus, that the closed loop system will be stable. This scientific initiation project is expected to validate an excellent procedure of impedance controllers certification, showing its funcionality on the robotics platforms available in the project.