Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints

Detalhes bibliográficos
Autor(a) principal: Luz Junior, Jose A. G. [UNESP]
Data de Publicação: 2021
Outros Autores: Tusset, Angelo M., Ribeiro, Mauricio A., Balthazar, Jose M. [UNESP]
Tipo de documento: Capítulo de livro
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1007/978-3-030-60694-7_13
http://hdl.handle.net/11449/206017
Resumo: This work presents the mathematical description, simulation and results for a dynamic analysis of a robotic arm with two degrees of freedom, one revolutionary and one a prismatic. The revolute link was considered with an elastic joint and the prismatic link was considered an ideal link. The SDRE technique was used to control the elastic joint to eliminate errors in position, vibration and to guide the arm through a specific path for position and speed. The work still has a wide variety of possibilities to improvement on the dynamic representation of the prismatic joint with some flexibility, a more detailed mathematical representation on the elastic joint control and explore more possibilities beyond SDRE control that can provide more precision on the speed control.
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spelling Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic JointsElastic jointRoboticsSDRE controlThis work presents the mathematical description, simulation and results for a dynamic analysis of a robotic arm with two degrees of freedom, one revolutionary and one a prismatic. The revolute link was considered with an elastic joint and the prismatic link was considered an ideal link. The SDRE technique was used to control the elastic joint to eliminate errors in position, vibration and to guide the arm through a specific path for position and speed. The work still has a wide variety of possibilities to improvement on the dynamic representation of the prismatic joint with some flexibility, a more detailed mathematical representation on the elastic joint control and explore more possibilities beyond SDRE control that can provide more precision on the speed control.UNESP—Universidade Estadual Paulista Júlio Mesquita Filho(UTFPR)—Federal University of TechnologyUNESP—Universidade Estadual Paulista Júlio Mesquita FilhoUniversidade Estadual Paulista (Unesp)(UTFPR)—Federal University of TechnologyLuz Junior, Jose A. G. [UNESP]Tusset, Angelo M.Ribeiro, Mauricio A.Balthazar, Jose M. [UNESP]2021-06-25T10:25:13Z2021-06-25T10:25:13Z2021-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookPart209-218http://dx.doi.org/10.1007/978-3-030-60694-7_13Mechanisms and Machine Science, v. 95, p. 209-218.2211-09922211-0984http://hdl.handle.net/11449/20601710.1007/978-3-030-60694-7_132-s2.0-85102200050Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengMechanisms and Machine Scienceinfo:eu-repo/semantics/openAccess2021-10-22T20:36:20Zoai:repositorio.unesp.br:11449/206017Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462021-10-22T20:36:20Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
title Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
spellingShingle Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
Luz Junior, Jose A. G. [UNESP]
Elastic joint
Robotics
SDRE control
title_short Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
title_full Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
title_fullStr Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
title_full_unstemmed Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
title_sort Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints
author Luz Junior, Jose A. G. [UNESP]
author_facet Luz Junior, Jose A. G. [UNESP]
Tusset, Angelo M.
Ribeiro, Mauricio A.
Balthazar, Jose M. [UNESP]
author_role author
author2 Tusset, Angelo M.
Ribeiro, Mauricio A.
Balthazar, Jose M. [UNESP]
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade Estadual Paulista (Unesp)
(UTFPR)—Federal University of Technology
dc.contributor.author.fl_str_mv Luz Junior, Jose A. G. [UNESP]
Tusset, Angelo M.
Ribeiro, Mauricio A.
Balthazar, Jose M. [UNESP]
dc.subject.por.fl_str_mv Elastic joint
Robotics
SDRE control
topic Elastic joint
Robotics
SDRE control
description This work presents the mathematical description, simulation and results for a dynamic analysis of a robotic arm with two degrees of freedom, one revolutionary and one a prismatic. The revolute link was considered with an elastic joint and the prismatic link was considered an ideal link. The SDRE technique was used to control the elastic joint to eliminate errors in position, vibration and to guide the arm through a specific path for position and speed. The work still has a wide variety of possibilities to improvement on the dynamic representation of the prismatic joint with some flexibility, a more detailed mathematical representation on the elastic joint control and explore more possibilities beyond SDRE control that can provide more precision on the speed control.
publishDate 2021
dc.date.none.fl_str_mv 2021-06-25T10:25:13Z
2021-06-25T10:25:13Z
2021-01-01
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/bookPart
format bookPart
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1007/978-3-030-60694-7_13
Mechanisms and Machine Science, v. 95, p. 209-218.
2211-0992
2211-0984
http://hdl.handle.net/11449/206017
10.1007/978-3-030-60694-7_13
2-s2.0-85102200050
url http://dx.doi.org/10.1007/978-3-030-60694-7_13
http://hdl.handle.net/11449/206017
identifier_str_mv Mechanisms and Machine Science, v. 95, p. 209-218.
2211-0992
2211-0984
10.1007/978-3-030-60694-7_13
2-s2.0-85102200050
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Mechanisms and Machine Science
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 209-218
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
_version_ 1799964817461608448

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