Optimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual Paulista (Unesp)-
Autor(es): dc.contributor(UTFPR)—Federal University of Technology-
Autor(es): dc.creatorLuz Junior, Jose A. G. [UNESP]-
Autor(es): dc.creatorTusset, Angelo M.-
Autor(es): dc.creatorRibeiro, Mauricio A.-
Autor(es): dc.creatorBalthazar, Jose M. [UNESP]-
Data de aceite: dc.date.accessioned2022-02-22T00:45:56Z-
Data de disponibilização: dc.date.available2022-02-22T00:45:56Z-
Data de envio: dc.date.issued2021-06-25-
Data de envio: dc.date.issued2021-06-25-
Data de envio: dc.date.issued2020-12-31-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.1007/978-3-030-60694-7_13-
Fonte completa do material: dc.identifierhttp://hdl.handle.net/11449/206017-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/206017-
Descrição: dc.descriptionThis work presents the mathematical description, simulation and results for a dynamic analysis of a robotic arm with two degrees of freedom, one revolutionary and one a prismatic. The revolute link was considered with an elastic joint and the prismatic link was considered an ideal link. The SDRE technique was used to control the elastic joint to eliminate errors in position, vibration and to guide the arm through a specific path for position and speed. The work still has a wide variety of possibilities to improvement on the dynamic representation of the prismatic joint with some flexibility, a more detailed mathematical representation on the elastic joint control and explore more possibilities beyond SDRE control that can provide more precision on the speed control.-
Descrição: dc.descriptionUNESP—Universidade Estadual Paulista Júlio Mesquita Filho-
Descrição: dc.description(UTFPR)—Federal University of Technology-
Descrição: dc.descriptionUNESP—Universidade Estadual Paulista Júlio Mesquita Filho-
Formato: dc.format209-218-
Idioma: dc.languageen-
Relação: dc.relationMechanisms and Machine Science-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectElastic joint-
Palavras-chave: dc.subjectRobotics-
Palavras-chave: dc.subjectSDRE control-
Título: dc.titleOptimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Joints-
Aparece nas coleções:Repositório Institucional - Unesp

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