Formulação e implementação experimental de uma estrategia de controle em tempo real para um braço flexivel

AUTOR(ES)
DATA DE PUBLICAÇÃO

1997

RESUMO

One of the most important requirements in robotics is to obtain positioning accuracy in the manipulator s end effector. This problem results even more complex in Flexible manipulators, which present lightweight structure, smaller actuators, higher speed, large working volume, high mobility and the ability to carry heavy payloads. Flexibility effects noticeably limit the performance and increase the system instability, for that, attention must be taken into account both in the dynamic and controllevel, consequently it will be required more sophisticated control techniques. This research deals with dynamic modelling and control of a flexible arm specifically, where the main goal is to provide a simpIe and robust controller so that to avoid complex control laws. A reduced dynamic model is obtained by finite element method and the flexibility effects are evaluated through simulation. The control strategy proposed in this work is divided in two stages: i) Rigid control, and ii) Perturbation control, which control the rigid mode and the displacement respectively. The control system apply both, the feedforward method to obtain the desired movement and the feedback method to stabilize the system response. It is presented the Generalized LQ Optimal Contrai method in such away to improve the system performance, by the use of the Kalman filter as the state observer to estimate the displacements. It is also described the hardware of the system and the real-time control routines applied to the experimental prototype developed on this research. The vibrations of the end-effect can be measured by using strain gage, and output signals are fedback to driving motor for suppressing the vibrations due to the flexibility. Finally, it is implemented the control algorithms to the prototype and it is evaluated the system performance comparing the simulation and experimental results

ASSUNTO(S)

robotica manipuladores (mecanismo) controle em tempo real robos - dinamica

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