Digital Twins: an integrated approach for modeling and controlling Flexible Manipulators

• Grant number: 23/07834-6
• Support Opportunities: Scholarships in Brazil - Post-Doctoral
• Start date: January 01, 2024
• End date: December 31, 2025
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Maira Martins da Silva
• Grantee: Renan Sanches Geronel
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

Dynamic models are essential not only in the design of a system, but also in its automation and diagnosis of anomalies. However, any simulation approach is subject to the impact of physical equations, uncertain parameters or methodological approximations. Furthermore, the accuracy of these models also faces limits in predicting the unique manufacturing and operating conditions that the real system achieved. In this research project, an executable digital twin will be implemented in a parallel handler with them flexible (3RRR). The modelling of the physical system will be carried out using the Modular Modeling Methodology (MMM), where the movement of rigid bodies is derived from the Equations and Gibs-Appel and the motion related to the flexibility of the links is obtained through the modal participation of the flexible components. The executable digital twin will be used in two applications. The first application is the implementation of a non-linear model-based predictive control strategy. The control loop will use the digital twin for manipulator dynamics prediction. The second application is the proposal of a method for detecting female digital anomalies used. The modelling and control of a manipulator with them flexible promote advances in the use of robotics in unstructured environments.

Scientific publications

(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)

GERONEL, RENAN SANCHES; DE OLIVEIRA, GUSTAVO CORREA; DA SILVA, MAIRA MARTINS. Dual-loop control strategies for vibration attenuation of a flexible parallel manipulator. JOURNAL OF VIBRATION AND CONTROL, v. N/A, p. 13-pg., 2024-12-13. (18/21336-0, 22/06816-1, 23/07834-6)

RINALDI, MARCO; WANG, SHENG; GERONEL, RENAN SANCHES; PRIMATESTA, STEFANO. Application of Task Allocation Algorithms in Multi-UAV Intelligent Transportation Systems: A Critical Review. BIG DATA AND COGNITIVE COMPUTING, v. 8, n. 12, p. 23-pg., 2024-12-01. (23/07834-6)

GERONEL, RENAN S.; BUENO, DOUGLAS D.. Design of Dual Loop Control to Attenuate Vibration of Payload Carried by a UAV. ENG, v. 5, n. 3, p. 17-pg., 2024-09-01. (23/07834-6)