Jeferson J. Lima, Mauricio A. Ribeiro, Max M. D. Santos, Frederic C. Janzen, Jose M. Balthazar, Angelo M. Tusset
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Nonlinear control and parametric uncertainties of flexible-joint robots
This 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.
期刊介绍：
Meccanica focuses on the methodological framework shared by mechanical scientists when addressing theoretical or applied problems. Original papers address various aspects of mechanical and mathematical modeling, of solution, as well as of analysis of system behavior. The journal explores fundamental and applications issues in established areas of mechanics research as well as in emerging fields; contemporary research on general mechanics, solid and structural mechanics, fluid mechanics, and mechanics of machines; interdisciplinary fields between mechanics and other mathematical and engineering sciences; interaction of mechanics with dynamical systems, advanced materials, control and computation; electromechanics; biomechanics.
Articles include full length papers; topical overviews; brief notes; discussions and comments on published papers; book reviews; and an international calendar of conferences.
Meccanica, the official journal of the Italian Association of Theoretical and Applied Mechanics, was established in 1966.
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