Controlador fuzzy takagi-sugeno aplicado a um manipulador com juntas flexíveis
This work studies the control of robotic manipulators with flexibility, specifically, the control of a planar serial manipulator with two degrees of freedom and flexibility in the joints. The main objective of this study is to design a regulation control using Parallel Distributed Compensation and T...
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión publicada |
| Fecha de publicación: | 2016 |
| País: | Brasil |
| Institución: | Universidade Tecnológica Federal do Paraná (UTFPR) |
| Repositorio: | Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT)) |
| Idioma: | portugués |
| OAI Identifier: | oai:repositorio.utfpr.edu.br:1/3503 |
| Acceso en línea: | http://repositorio.utfpr.edu.br/jspui/handle/1/3503 |
| Access Level: | acceso abierto |
| Palabra clave: | Manipuladores (Mecanismo) Controladores programáveis Engenharia mecânica Manipulators (Mechanism) Programmable controllers Mechanical engineering CNPQ::ENGENHARIAS Engenharia Mecânica |
| Sumario: | This work studies the control of robotic manipulators with flexibility, specifically, the control of a planar serial manipulator with two degrees of freedom and flexibility in the joints. The main objective of this study is to design a regulation control using Parallel Distributed Compensation and Takagi-Sugeno fuzzy model, to approximate the nonlinearities of the system. The objective of the regulation control law is to provide damping to the manipulator to attenuate the vibrations in a specific configuration. The dynamic model of the manipulator studied is obtained using Lagrange-Euler principles. The regulation control performance is valued by computer simulations that prove the effectiveness of the proposed controller. |
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