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(Referência obtida automaticamente do Web of Science, por meio da informação sobre o financiamento pela FAPESP e o número do processo correspondente, incluída na publicação pelos autores.)

Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators

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Autor(es):
Nogueira, Samuel L. [1] ; Pazelli, Tatiana F. P. A. T. [2] ; Siqueira, Adriano A. G. [1] ; Terra, Marco H. [3]
Número total de Autores: 4
Afiliação do(s) autor(es):
[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
Número total de Afiliações: 3
Tipo de documento: Artigo Científico
Fonte: SENSORS; v. 13, n. 4, p. 5181-5204, APR 2013.
Citações Web of Science: 1
Resumo

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)

Processo FAPESP: 12/05552-9 - Sistema Robusto de Estimativa de Posicionamentos Angulares Absolutos e Forças de Interação para Exoesqueletos de Membros Inferiores
Beneficiário:Samuel Lourenço Nogueira
Linha de fomento: Bolsas no Brasil - Doutorado