POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE

Detalhes bibliográficos
Autor(a) principal: Lima, Jeferson J. [UNESP]
Data de Publicação: 2017
Outros Autores: Rocha, Rodrigo T. [UNESP], Janzen, Frederic C., Tusset, Angelo M., Bassinello, Dailhane G. [UNESP], Balthazar, Jose M. [UNESP], ASME
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://hdl.handle.net/11449/162775
Resumo: This paper presents a two-degree-of-freedom robotic arm design with flexible joints driven by a DC Motor and controlled by a Magnetorheological (MR) Brake, considering a feedback control. The MR Brake is used to provide adjustable constraints in motion of the manipulator and compensate overshoot by interactions between the robot's links and flexible joints of the motor drive mechanism. The torque of the MR Brake is obtained by the Radial Basis Function Neural Networks (RBFNN), which is a widely used class of neural networks for prediction or approximation of function. The RBFNN provides the nonlinear curve of hysteresis of MR brake to use torque. Two controllers were proposed to control the manipulator. The first one is obtained by feedback linearization control with the objective to remove the non-dependent terms of the state space equation. The second one is the feedback control obtained using the State-Dependent Riccati Equation (SDRE) with the objective of controlling the position of the manipulator and the torque applied on the MR brake. The numerical simulation results showed that the proposed control using both signal feedback linearization control and a feedback control signal by a. DC Motor and MR Brake is effective to control the flexible joint manipulators.
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spelling POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKEThis paper presents a two-degree-of-freedom robotic arm design with flexible joints driven by a DC Motor and controlled by a Magnetorheological (MR) Brake, considering a feedback control. The MR Brake is used to provide adjustable constraints in motion of the manipulator and compensate overshoot by interactions between the robot's links and flexible joints of the motor drive mechanism. The torque of the MR Brake is obtained by the Radial Basis Function Neural Networks (RBFNN), which is a widely used class of neural networks for prediction or approximation of function. The RBFNN provides the nonlinear curve of hysteresis of MR brake to use torque. Two controllers were proposed to control the manipulator. The first one is obtained by feedback linearization control with the objective to remove the non-dependent terms of the state space equation. The second one is the feedback control obtained using the State-Dependent Riccati Equation (SDRE) with the objective of controlling the position of the manipulator and the torque applied on the MR brake. The numerical simulation results showed that the proposed control using both signal feedback linearization control and a feedback control signal by a. DC Motor and MR Brake is effective to control the flexible joint manipulators.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)UNESP Sao Paulo State Univ, Dept Elect Engn, CP 473, BR-17033360 Bauru, SP, BrazilUNESP Sao Paulo State Univ, Fac Mech Engn, CP 473, BR-17033360 Bauru, SP, BrazilUTFPR Fed Technol Univ Parana, Dept Elect, BR-84016210 Ponta Grossa, Parana, BrazilITA Aeronaut Technol Inst, Mech Aeronaut Div, BR-12228900 Sao Jose Dos Campos, SP, BrazilUNESP Sao Paulo State Univ, Dept Elect Engn, CP 473, BR-17033360 Bauru, SP, BrazilUNESP Sao Paulo State Univ, Fac Mech Engn, CP 473, BR-17033360 Bauru, SP, BrazilAmer Soc Mechanical EngineersUniversidade Estadual Paulista (Unesp)UTFPR Fed Technol Univ ParanaITA Aeronaut Technol InstLima, Jeferson J. [UNESP]Rocha, Rodrigo T. [UNESP]Janzen, Frederic C.Tusset, Angelo M.Bassinello, Dailhane G. [UNESP]Balthazar, Jose M. [UNESP]ASME2018-11-26T17:31:19Z2018-11-26T17:31:19Z2017-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject10Proceedings Of The Asme International Mechanical Engineering Congress And Exposition, 2016, Vol. 4b. New York: Amer Soc Mechanical Engineers, 10 p., 2017.http://hdl.handle.net/11449/162775WOS:000400806500022Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengProceedings Of The Asme International Mechanical Engineering Congress And Exposition, 2016, Vol. 4binfo:eu-repo/semantics/openAccess2024-06-28T13:55:48Zoai:repositorio.unesp.br:11449/162775Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-06T00:04:48.373834Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
title POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
spellingShingle POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
Lima, Jeferson J. [UNESP]
title_short POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
title_full POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
title_fullStr POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
title_full_unstemmed POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
title_sort POSITION CONTROL OF A MANIPULATOR ROBOTIC ARM CONSIDERING FLEXIBLE JOINTS DRIVEN BY A DC MOTOR AND A CONTROLLED TORQUE BY A MR-BRAKE
author Lima, Jeferson J. [UNESP]
author_facet Lima, Jeferson J. [UNESP]
Rocha, Rodrigo T. [UNESP]
Janzen, Frederic C.
Tusset, Angelo M.
Bassinello, Dailhane G. [UNESP]
Balthazar, Jose M. [UNESP]
ASME
author_role author
author2 Rocha, Rodrigo T. [UNESP]
Janzen, Frederic C.
Tusset, Angelo M.
Bassinello, Dailhane G. [UNESP]
Balthazar, Jose M. [UNESP]
ASME
author2_role author
author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade Estadual Paulista (Unesp)
UTFPR Fed Technol Univ Parana
ITA Aeronaut Technol Inst
dc.contributor.author.fl_str_mv Lima, Jeferson J. [UNESP]
Rocha, Rodrigo T. [UNESP]
Janzen, Frederic C.
Tusset, Angelo M.
Bassinello, Dailhane G. [UNESP]
Balthazar, Jose M. [UNESP]
ASME
description This paper presents a two-degree-of-freedom robotic arm design with flexible joints driven by a DC Motor and controlled by a Magnetorheological (MR) Brake, considering a feedback control. The MR Brake is used to provide adjustable constraints in motion of the manipulator and compensate overshoot by interactions between the robot's links and flexible joints of the motor drive mechanism. The torque of the MR Brake is obtained by the Radial Basis Function Neural Networks (RBFNN), which is a widely used class of neural networks for prediction or approximation of function. The RBFNN provides the nonlinear curve of hysteresis of MR brake to use torque. Two controllers were proposed to control the manipulator. The first one is obtained by feedback linearization control with the objective to remove the non-dependent terms of the state space equation. The second one is the feedback control obtained using the State-Dependent Riccati Equation (SDRE) with the objective of controlling the position of the manipulator and the torque applied on the MR brake. The numerical simulation results showed that the proposed control using both signal feedback linearization control and a feedback control signal by a. DC Motor and MR Brake is effective to control the flexible joint manipulators.
publishDate 2017
dc.date.none.fl_str_mv 2017-01-01
2018-11-26T17:31:19Z
2018-11-26T17:31:19Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
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status_str publishedVersion
dc.identifier.uri.fl_str_mv Proceedings Of The Asme International Mechanical Engineering Congress And Exposition, 2016, Vol. 4b. New York: Amer Soc Mechanical Engineers, 10 p., 2017.
http://hdl.handle.net/11449/162775
WOS:000400806500022
identifier_str_mv Proceedings Of The Asme International Mechanical Engineering Congress And Exposition, 2016, Vol. 4b. New York: Amer Soc Mechanical Engineers, 10 p., 2017.
WOS:000400806500022
url http://hdl.handle.net/11449/162775
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Proceedings Of The Asme International Mechanical Engineering Congress And Exposition, 2016, Vol. 4b
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dc.format.none.fl_str_mv 10
dc.publisher.none.fl_str_mv Amer Soc Mechanical Engineers
publisher.none.fl_str_mv Amer Soc Mechanical Engineers
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)
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