Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

Detalhes bibliográficos
Autor(a) principal: Bottega, Valdecir
Data de Publicação: 2009
Outros Autores: Pergher, Rejane, Fonseca, Jun Sergio Ono
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UFRGS
Texto Completo: http://hdl.handle.net/10183/75807
Resumo: This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.
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spelling Bottega, ValdecirPergher, RejaneFonseca, Jun Sergio Ono2013-07-11T02:22:30Z20091806-3691http://hdl.handle.net/10183/75807000724066This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.application/pdfengJournal of the Brazilian Society of Mechanical Sciences and Engineering. Rio de Janeiro, RJ. Vol. 31, no. 2 (Apr./June 2009), p. 105-116Materiais piezoelétricosManipuladores robóticosRobóticaPiezoelectric actuatorsFlexible linksTracking controlOptimizationManipulatorsSimultaneous control and piezoelectric insert optimization for manipulators with flexible linkinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/otherinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/openAccessreponame:Repositório Institucional da UFRGSinstname:Universidade Federal do Rio Grande do Sul (UFRGS)instacron:UFRGSORIGINAL000724066.pdf000724066.pdfTexto completo (inglês)application/pdf281241http://www.lume.ufrgs.br/bitstream/10183/75807/1/000724066.pdf36aae51fc4e83c01e475c194ee70dfe9MD51TEXT000724066.pdf.txt000724066.pdf.txtExtracted Texttext/plain40436http://www.lume.ufrgs.br/bitstream/10183/75807/2/000724066.pdf.txtdd574a4f32b04fab788a9489c5db0e1eMD52THUMBNAIL000724066.pdf.jpg000724066.pdf.jpgGenerated Thumbnailimage/jpeg2167http://www.lume.ufrgs.br/bitstream/10183/75807/3/000724066.pdf.jpgf2c338b40cb05535b65a6eea68c68440MD5310183/758072022-05-14 05:04:49.193596oai:www.lume.ufrgs.br:10183/75807Repositório de PublicaçõesPUBhttps://lume.ufrgs.br/oai/requestopendoar:2022-05-14T08:04:49Repositório Institucional da UFRGS - Universidade Federal do Rio Grande do Sul (UFRGS)false
dc.title.pt_BR.fl_str_mv Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
spellingShingle Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
Bottega, Valdecir
Materiais piezoelétricos
Manipuladores robóticos
Robótica
Piezoelectric actuators
Flexible links
Tracking control
Optimization
Manipulators
title_short Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_full Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_fullStr Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_full_unstemmed Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
title_sort Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
author Bottega, Valdecir
author_facet Bottega, Valdecir
Pergher, Rejane
Fonseca, Jun Sergio Ono
author_role author
author2 Pergher, Rejane
Fonseca, Jun Sergio Ono
author2_role author
author
dc.contributor.author.fl_str_mv Bottega, Valdecir
Pergher, Rejane
Fonseca, Jun Sergio Ono
dc.subject.por.fl_str_mv Materiais piezoelétricos
Manipuladores robóticos
Robótica
topic Materiais piezoelétricos
Manipuladores robóticos
Robótica
Piezoelectric actuators
Flexible links
Tracking control
Optimization
Manipulators
dc.subject.eng.fl_str_mv Piezoelectric actuators
Flexible links
Tracking control
Optimization
Manipulators
description This work proposes a tracking control model for a flexible link robotic manipulator using simultaneously motor torques and piezoelectric actuators. The dynamic model of manipulator is obtained in a closed form through the Lagrangian approach. The control uses the motor torques for the tracking control of the joints and also to reduce the low frequency vibration induced in the manipulator links. The stability of this control is guaranteed by the Lyapunov stability theory. Piezoelectric actuators and sensors are added for controlling the high frequency vibrations beyond range of motor torque control. Additionally, this work introduces a formulation for simultaneous control and piezoelectric inserts geometry optimization through the maximization of the control action dissipated energy. Simulations on Matlab/Simulink are used to verify the efficiency of the control model.
publishDate 2009
dc.date.issued.fl_str_mv 2009
dc.date.accessioned.fl_str_mv 2013-07-11T02:22:30Z
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/10183/75807
dc.identifier.issn.pt_BR.fl_str_mv 1806-3691
dc.identifier.nrb.pt_BR.fl_str_mv 000724066
identifier_str_mv 1806-3691
000724066
url http://hdl.handle.net/10183/75807
dc.language.iso.fl_str_mv eng
language eng
dc.relation.ispartof.pt_BR.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering. Rio de Janeiro, RJ. Vol. 31, no. 2 (Apr./June 2009), p. 105-116
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
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