| Texto completo | |
| Autor(es): |
da Silva, Maira Martins
;
Colombo, Fernanda Thais
;
de Oliveira, Gustavo Correa
;
de Oliveira, Leopoldo Pisanelli
Número total de Autores: 4
|
| Tipo de documento: | Artigo Científico |
| Fonte: | MECHANISM AND MACHINE THEORY; v. 191, p. 14-pg., 2023-10-05. |
| Resumo | |
Parallel manipulators may present higher speed/acceleration ratios and energy efficiency when compared with serial manipulators. In addition, reducing their components' inertia can further improve performance. However, this design alternative might yield vibrations requiring novel joint and task space control strategies. While the former involves precise models, the latter might require adequate computation vision schemes. These requirements impose critical challenges. This manuscript proposes a hybrid control strategy and experimentally investigates using a 3RRR prototype with flexible links. This hybrid strategy comprises two control loops: position -based visual servo and strain-based feedback control schemes. The strain-based loop uses a sliding mode control and the time derivative of the signals obtained by strain gauges installed in the flexible links. Compared with the position-based visual servo scheme, the hybrid strategy can considerably attenuate the vibrations since the approach reduced the overshoot response by 36% and the maximum value of the Euclidean error on position by 38%, on average. (AU) | |
| Processo FAPESP: | 18/21336-0 - Alcançando altas acelerações com manipuladores paralelos, Fase II: instrumentação, modelagem e controle de um manipulador flexível |
| Beneficiário: | Maira Martins da Silva |
| Modalidade de apoio: | Auxílio à Pesquisa - Regular |
| Processo FAPESP: | 22/06816-1 - Controle de Manipuladores Paralelos Planos com Elos Flexíveis: uma Abordagem Livre de Modelos Dinâmicos |
| Beneficiário: | Gustavo Corrêa de Oliveira |
| Modalidade de apoio: | Bolsas no Brasil - Mestrado |
| Processo FAPESP: | 18/22760-0 - Controle de manipuladores paralelos planos com elos flexíveis |
| Beneficiário: | Fernanda Thaís Colombo |
| Modalidade de apoio: | Bolsas no Brasil - Doutorado |