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

Página do item simplificado
dc.contributor.authorLuz Junior, Jose A. G. [UNESP]
dc.contributor.authorTusset, Angelo M.
dc.contributor.authorRibeiro, Mauricio A.
dc.contributor.authorBalthazar, Jose M. [UNESP]
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.contributor.institution(UTFPR)—Federal University of Technology
dc.date.accessioned2021-06-25T10:25:13Z
dc.date.available2021-06-25T10:25:13Z
dc.date.issued2021-01-01
dc.description.abstractThis 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.en
dc.description.affiliationUNESP—Universidade Estadual Paulista Júlio Mesquita Filho
dc.description.affiliation(UTFPR)—Federal University of Technology
dc.description.affiliationUnespUNESP—Universidade Estadual Paulista Júlio Mesquita Filho
dc.format.extent209-218
dc.identifierhttp://dx.doi.org/10.1007/978-3-030-60694-7_13
dc.identifier.citationMechanisms and Machine Science, v. 95, p. 209-218.
dc.identifier.doi10.1007/978-3-030-60694-7_13
dc.identifier.issn2211-0992
dc.identifier.issn2211-0984
dc.identifier.scopus2-s2.0-85102200050
dc.identifier.urihttp://hdl.handle.net/11449/206017
dc.language.isoeng
dc.relation.ispartofMechanisms and Machine Science
dc.sourceScopus
dc.subjectElastic joint
dc.subjectRobotics
dc.subjectSDRE control
dc.titleOptimal Control for Path Planning on a 2 DOF Robotic Arm with Prismatic and Revolute Elastic Jointsen
dc.typeCapítulo de livro

Arquivos

Coleções

Artigos