Full text
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| Author(s): |
Cauê Peres
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Paulo. |
| Institution: | Universidade de São Paulo (USP). Escola Politécnica (EP/BC) |
| Defense date: | 2003-05-30 |
| Examining board members: |
Paulo Sergio Pereira da Silva;
José Jaime da Cruz;
Marco Henrique Terra
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| Advisor: | Paulo Sergio Pereira da Silva |
| Abstract | |
This thesis describes the solution to the time-optimal tracking problem of a predefined trajectory by a robot with torque limits, in contact with a constraint surface. We presented a model to the contact (including friction effects) between the end-effecter and the surface. The algorithm developed to solve the optimization problem can be easily applied to more complicated practical cases (i.e, an industrial robot with 6 degrees of freedom), and also to under actuated robots. We projected a control system inspired on the concept of \"flatness\" in order to track the trajectory as fast as possible. We evaluated the robustness of such system during the simulations of some practical examples. (AU) | |