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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

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Author(s):
Nogueira, Samuel L. [1] ; Pazelli, Tatiana F. P. A. T. [2] ; Siqueira, Adriano A. G. [1] ; Terra, Marco H. [3]
Total Authors: 4
Affiliation:
[1] Univ Sao Paulo, Dept Mech Engn, BR-13566590 Sao Carlos, SP - Brazil
[2] Univ Fed Sao Carlos, Dept Elect Engn, BR-13560 Sao Carlos, SP - Brazil
[3] Univ Sao Paulo, Dept Elect Engn, BR-13566590 Sao Carlos, SP - Brazil
Total Affiliations: 3
Document type: Journal article
Source: SENSORS; v. 13, n. 4, p. 5181-5204, APR 2013.
Web of Science Citations: 1
Abstract

In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second one shows an experimental investigation on the performance of four different adaptive nonlinear H-infinity control methods applied to a constrained manipulator subject to uncertainties in the model and external disturbances. Coordinated position and force control is evaluated. Adaptive procedures are based on neural networks and fuzzy systems applied in two different modeling strategies. The first modeling strategy requires a well-known nominal model for the robot, so that the intelligent systems are applied only to estimate the effects of uncertainties, unmodeled dynamics and external disturbances. The second strategy considers that the robot model is completely unknown and, therefore, intelligent systems are used to estimate these dynamics. A comparative study is conducted based on experimental implementations performed with an actual planar manipulator and with the dynamic force sensor developed for this purpose. (AU)

FAPESP's process: 12/05552-9 - Robust system for estimation of absolute angular positions and force interaction for exoskeletons of lower limbs
Grantee:Samuel Lourenço Nogueira
Support type: Scholarships in Brazil - Doctorate