SDRE applied to position and vibration control of a robot manipulator with a flexible link

• Autorzy: Lima J. J. , Tusset A. M. , Janzen F. C. , Piccirillo V. , Nascimento C. B. , Balthazar J. M. , Brasil R. M. L. R. F.

Identyfikatory

DOI

10.15632/jtam-pl.54.4.1067

• Języki publikacji: EN

Abstrakty

EN

This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the flexible structure, Shape Memory Alloys (SMA) are used. Due to phase transformations, the SMA can change its stiffness through temperature variation, considering and taking advantage of this characteristic the vibration control is done. Control is achieved via the State Dependent Ricatti Equations (SDRE) technique, which uses suboptimal control and system local stability search. The simulation results show the feasibility of the proposed control for the considered system.

Słowa kluczowe

EN

SDRE control; flexible robotic arm; SMA; active vibration control

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2016
• Tom: Vol. 54 nr 4
• Strony: 1067--1078
• Opis fizyczny: Bibliogr. 31 poz., rys., tab.

Twórcy

autor

Lima J. J.

• UTFPR, Ponta Grossa, PR, Brazil

autor

Tusset A. M.

• UTFPR, Ponta Grossa, PR, Brazil

autor

Janzen F. C.

• UTFPR, Ponta Grossa, PR, Brazil

autor

Piccirillo V.

• UTFPR, Ponta Grossa, PR, Brazil

autor

Nascimento C. B.

• UTFPR, Ponta Grossa, PR, Brazil

autor

Balthazar J. M.

• UNESP, Bauru, SP, Brazil

autor

Brasil R. M. L. R. F.

• UFABC, Santo Andre, SP, Brazil

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniajacą naukę.