Scholarship 23/07834-6 - Diagnóstico de falhas, Modelagem dinâmica - BV FAPESP
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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 until: January 01, 2024
End date until: 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.

News published in Agência FAPESP Newsletter about the scholarship:
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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 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., . (23/07834-6)

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