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CREEM2024
CREEM 2024 - XXX Congresso Nacional de Estudantes de Engenharia Mecânica
CONTROLE, SIMULAÇÃO E MODELAGEM DE UM MANIPULADOR COM ELO FLEXÍVEL
Submission Author:
João Pedro Gomes Ostini Ayello , SP , Brazil
Co-Authors:
João Pedro Gomes Ostini Ayello, Fabian Andres Lara-Molina, Israel Jorge Cardenas Nunez
Presenter: João Pedro Gomes Ostini Ayello
doi://10.26678/ABCM.CREEM2024.CRE2024-0020
Abstract
The present work aims to present an alternative proposal to the works presented in the literature that establishes a control strategy to attenuate structural vibrations in the manipulator and also control to minimize the position error in the motor simultaneously of a manipulator with a flexible link. For this, the manipulator was modeled using the finite element method and the Lagrange principle. Next, an experimental prototype was implemented to validate the results of the manipulator’s numerical model. Then, the control scheme is applied to the manipulator to attenuate vibrations and minimize position error. Finally, numerical results illustrate the controller’s benefits on the manipulator’s dynamic response.
Keywords
Robotic manipulators, Control Systems, dynamics, Flexible link Manipulator
