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Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

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Simultaneous control and piezoelectric insert optimization for manipulators with flexible link

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Título Simultaneous control and piezoelectric insert optimization for manipulators with flexible link
Autor Bottega, Valdecir
Pergher, Rejane
Fonseca, Jun Sergio Ono
Abstract 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.
Contido em Journal of the Brazilian Society of Mechanical Sciences and Engineering. Rio de Janeiro, RJ. Vol. 31, no. 2 (Apr./June 2009), p. 105-116
Assunto Manipuladores robóticos
Materiais piezoelétricos
Robótica
[en] Flexible links
[en] Manipulators
[en] Optimization
[en] Piezoelectric actuators
[en] Tracking control
Origem Nacional
Tipo Artigo de periódico
URI http://hdl.handle.net/10183/75807
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