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| Author(s): |
Gustavo Corrêa de Oliveira
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) |
| Defense date: | 2024-09-13 |
| Examining board members: |
Maíra Martins da Silva;
Douglas Domingues Bueno;
Joao Vitor de Carvalho Fontes
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| Advisor: | Maíra Martins da Silva |
| Abstract | |
Parallel manipulators can offer higher speed/acceleration ratios and energy efficiency compared to serial manipulators. Additionally, reducing the inertia of their moving compo- nents can further enhance this performance. However, this design approach can generate vibrations that require the implementation of new control strategies in both the joint space and the task space. Control in the joint space involves complex dynamic models for flexible links, which are difficult to implement, while control in the task space may require appropriate cameras and image processing. These requirements pose significant challenges in the field. This research proposes and investigates hybrid control strategies that do not require prior knowledge of the dynamic model, using a 3RRR planar parallel manipulator with flexible links. Initially, the Camera Loop was evaluated as a reference. Subsequently, the design of a hybrid control combining the Camera Loop and Strain Loop was explored with the aim of reducing vibrations in the flexible links. Three hybrid controllers were proposed: PID control, low-order and high-order sliding mode. All three controllers consist of two control loops: one that uses vision-based feedback to determine the position of the manipulator\'s end-effector, with an oCam-5CRO-U camera to acquire the images, and another that employs a feedback control scheme with strain gauge signals attached to the flexible links. The results show that, regardless of the controller used, hybrid control with strain gauge signals was able to reduce link vibrations and improve the manipulators temporal response parameters, given a step input in the x and y directions at the end-effector position. (AU) | |
| FAPESP's process: | 22/06816-1 - Dynamic Model-Free Control of Parallel Planar Manipulators with Flexible Links |
| Grantee: | Gustavo Corrêa de Oliveira |
| Support Opportunities: | Scholarships in Brazil - Master |