Nonlinear control and parametric uncertainties of flexible-joint robots

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.contributorFederal University of Technology - Parana-
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.creatorLima, Jeferson J.-
Autor(es): dc.creatorRibeiro, Mauricio A.-
Autor(es): dc.creatorSantos, Max M. D.-
Autor(es): dc.creatorJanzen, Frederic C.-
Autor(es): dc.creatorBalthazar, Jose M.-
Autor(es): dc.creatorTusset, Angelo M.-
Data de aceite: dc.date.accessioned2025-08-21T22:21:18Z-
Data de disponibilização: dc.date.available2025-08-21T22:21:18Z-
Data de envio: dc.date.issued2025-04-29-
Data de envio: dc.date.issued2024-11-30-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.1007/s11012-024-01891-2-
Fonte completa do material: dc.identifierhttps://hdl.handle.net/11449/306740-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/306740-
Descrição: dc.descriptionThis study examines the relationship between the nonlinear behavior of the flexible joints of a fourth-degree-of-freedom robot and the controllability and parametric uncertainties of the system. The initial section of the paper presents the dynamic modeling of the robot and the proposed control strategies. This is followed by a parametric sensitivity analysis, which defines the optimal control strategy to be applied. Finally, the configuration of the experimental robot with flexible joints is presented. The SDRE and LQR strategies are related in the study, both in discrete mode and intended for use in the control unit. The final phase of the study involved the presentation of the results obtained when the robot was controlled using flexible joints. The findings demonstrated a positive outcome for the SDRE control strategy.-
Descrição: dc.descriptionDepartment of Electronics Federal University of Technology - Parana, Doutor Washington Subtil Chueire Street, Parana-
Descrição: dc.descriptionDepartment of Mathematics Federal University of Technology - Parana, Doutor Washington Subtil Chueire Street, Parana-
Descrição: dc.descriptionDepartment of Mechanical Sao Paulo State University, Av. Eng. Luiz Edmundo C. Coube Street, Sao Paulo-
Descrição: dc.descriptionDepartment of Mechanical Sao Paulo State University, Av. Eng. Luiz Edmundo C. Coube Street, Sao Paulo-
Formato: dc.format2325-2347-
Idioma: dc.languageen-
Relação: dc.relationMeccanica-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectFlexible-joint robots-
Palavras-chave: dc.subjectLQR control-
Palavras-chave: dc.subjectParametric uncertainties-
Palavras-chave: dc.subjectSDRE control-
Título: dc.titleNonlinear control and parametric uncertainties of flexible-joint robots-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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