On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying
Autor(a) principal: | |
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Data de Publicação: | 2019 |
Outros Autores: | , , , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1155/2019/5408519 http://hdl.handle.net/11449/184388 |
Resumo: | In recent years, the evolution of artificial intelligence techniques has widely grown such that it gives new ways to improve human life, not only at work but also living. Nowadays, to the human being, physical human-robot interactions (PHRIs) have been presented very important and present itself as a major challenge for the current engineering. Therefore, this work designs and analyses a two-degree-of-freedom robotic arm with flexible joints driven by a DC motor. Due to the interaction between the robot links and flexible joints, the arm may present overshoots when it is moved such that it becomes difficult to manipulate the arm. Therefore, Magnetorheological dampers (MR damper or MR brake) are attached to the links of the arm in order to control such overshoot and provide a way to adjust the mechanical limitations of the arm. The dynamics of the system will be investigated, showing the appearance of chaotic behavior due to the coupling of the manipulator to the motors. After that, the feedback control is obtained through the state-dependent Riccati equation (SDRE) aiming the control of the positioning of the manipulator and the torque applied on the MR damper. Numerical results showed that the proposed control using hybrid actuators, DC motor, and MR brake was effective to control the position and behavior of the flexible joints of the manipulators. |
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Repositório Institucional da UNESP |
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On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load CarryingIn recent years, the evolution of artificial intelligence techniques has widely grown such that it gives new ways to improve human life, not only at work but also living. Nowadays, to the human being, physical human-robot interactions (PHRIs) have been presented very important and present itself as a major challenge for the current engineering. Therefore, this work designs and analyses a two-degree-of-freedom robotic arm with flexible joints driven by a DC motor. Due to the interaction between the robot links and flexible joints, the arm may present overshoots when it is moved such that it becomes difficult to manipulate the arm. Therefore, Magnetorheological dampers (MR damper or MR brake) are attached to the links of the arm in order to control such overshoot and provide a way to adjust the mechanical limitations of the arm. The dynamics of the system will be investigated, showing the appearance of chaotic behavior due to the coupling of the manipulator to the motors. After that, the feedback control is obtained through the state-dependent Riccati equation (SDRE) aiming the control of the positioning of the manipulator and the torque applied on the MR damper. Numerical results showed that the proposed control using hybrid actuators, DC motor, and MR brake was effective to control the position and behavior of the flexible joints of the manipulators.Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Sao Paulo State Univ, Fac Engn Bauru, BR-17033360 Bauru, SP, BrazilUniv Tecnol Fed Parana, Dept Elect, BR-84016210 Ponta Grossa, PR, BrazilSapienza Univ Roma, Rome, ItalyLublin Univ Technol, Fac Mech Engn, Nadbystrzycka 36, PL-20618 Lublin, PolandAGH Univ Sci & Technol, Dept Proc Control, Mickiewicz Alley 30, PL-30059 Krakow, PolandFed Inst Parana, Campo Largo, Parana, BrazilSao Paulo State Univ, Fac Engn Bauru, BR-17033360 Bauru, SP, BrazilHindawi LtdUniversidade Estadual Paulista (Unesp)Univ Tecnol Fed ParanaSapienza Univ RomaLublin Univ TechnolAGH Univ Sci & TechnolFed Inst ParanaLima, Jeferson J. [UNESP]Balthazar, Jose M. [UNESP]Rocha, Rodrigo T.Janzen, Frederic C.Bernardini, DavideLitak, GrzegorzBassinello, Dailhane G. [UNESP]Tusset, Angelo M.2019-10-04T11:57:25Z2019-10-04T11:57:25Z2019-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article14http://dx.doi.org/10.1155/2019/5408519Shock And Vibration. London: Hindawi Ltd, 14 p., 2019.1070-9622http://hdl.handle.net/11449/18438810.1155/2019/5408519WOS:000460383800001Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengShock And Vibrationinfo:eu-repo/semantics/openAccess2021-10-22T18:56:57Zoai:repositorio.unesp.br:11449/184388Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T19:39:03.775229Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
title |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
spellingShingle |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying Lima, Jeferson J. [UNESP] |
title_short |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
title_full |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
title_fullStr |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
title_full_unstemmed |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
title_sort |
On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying |
author |
Lima, Jeferson J. [UNESP] |
author_facet |
Lima, Jeferson J. [UNESP] Balthazar, Jose M. [UNESP] Rocha, Rodrigo T. Janzen, Frederic C. Bernardini, Davide Litak, Grzegorz Bassinello, Dailhane G. [UNESP] Tusset, Angelo M. |
author_role |
author |
author2 |
Balthazar, Jose M. [UNESP] Rocha, Rodrigo T. Janzen, Frederic C. Bernardini, Davide Litak, Grzegorz Bassinello, Dailhane G. [UNESP] Tusset, Angelo M. |
author2_role |
author author author author author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (Unesp) Univ Tecnol Fed Parana Sapienza Univ Roma Lublin Univ Technol AGH Univ Sci & Technol Fed Inst Parana |
dc.contributor.author.fl_str_mv |
Lima, Jeferson J. [UNESP] Balthazar, Jose M. [UNESP] Rocha, Rodrigo T. Janzen, Frederic C. Bernardini, Davide Litak, Grzegorz Bassinello, Dailhane G. [UNESP] Tusset, Angelo M. |
description |
In recent years, the evolution of artificial intelligence techniques has widely grown such that it gives new ways to improve human life, not only at work but also living. Nowadays, to the human being, physical human-robot interactions (PHRIs) have been presented very important and present itself as a major challenge for the current engineering. Therefore, this work designs and analyses a two-degree-of-freedom robotic arm with flexible joints driven by a DC motor. Due to the interaction between the robot links and flexible joints, the arm may present overshoots when it is moved such that it becomes difficult to manipulate the arm. Therefore, Magnetorheological dampers (MR damper or MR brake) are attached to the links of the arm in order to control such overshoot and provide a way to adjust the mechanical limitations of the arm. The dynamics of the system will be investigated, showing the appearance of chaotic behavior due to the coupling of the manipulator to the motors. After that, the feedback control is obtained through the state-dependent Riccati equation (SDRE) aiming the control of the positioning of the manipulator and the torque applied on the MR damper. Numerical results showed that the proposed control using hybrid actuators, DC motor, and MR brake was effective to control the position and behavior of the flexible joints of the manipulators. |
publishDate |
2019 |
dc.date.none.fl_str_mv |
2019-10-04T11:57:25Z 2019-10-04T11:57:25Z 2019-01-01 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1155/2019/5408519 Shock And Vibration. London: Hindawi Ltd, 14 p., 2019. 1070-9622 http://hdl.handle.net/11449/184388 10.1155/2019/5408519 WOS:000460383800001 |
url |
http://dx.doi.org/10.1155/2019/5408519 http://hdl.handle.net/11449/184388 |
identifier_str_mv |
Shock And Vibration. London: Hindawi Ltd, 14 p., 2019. 1070-9622 10.1155/2019/5408519 WOS:000460383800001 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Shock And Vibration |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
14 |
dc.publisher.none.fl_str_mv |
Hindawi Ltd |
publisher.none.fl_str_mv |
Hindawi Ltd |
dc.source.none.fl_str_mv |
Web of Science 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_ |
1808129100364120064 |