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Implementation of robust multivariable control techniques for positioning an artificial robotic hand

Grant number: 06/06453-3
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): February 01, 2007
Effective date (End): January 31, 2008
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal researcher:Glauco Augusto de Paula Caurin
Grantee:Leandro Cuenca Massaro
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This research has as objective the study and development of a set of multivariables robust controllers for a robotic manipulator with multiple degrees of freedom. The objectivo of these controllers is to locate with precision the tip of each finger, thus making possible the object manipulation. This system will have to deal with the typical nonlinear characteristics of a complex mecatronic system.

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