Eventos Anais de eventos
DINAME 2023
XIX International Symposium on Dynamic Problems of Mechanics
Parametric uncertainty applied to the robust control of a 2-DOF planar robotic arm
Submission Author:
Guilherme Lacerda , RJ
Co-Authors:
Guilherme Lacerda, Thiago Ritto
Presenter: Guilherme Lacerda
doi://10.26678/ABCM.DINAME2023.DIN2023-0046
Abstract
This work proposed an approach of input uncertain in the construction parameters in the robust control applied in a 2-DOF planar robotic arm. The robust control used in this paper rule the torque of the robotic arm due to the requested motion. Parameterization of the dynamic model is required, done in two different vectors. The vector Y is the vector only dependent on the angles, and the vector is the vector that depends only on the parameters of the system. The parameters analyzed are the length and mass of the link, moments of inertia, and the gear reduction ratio. The Passivity Based Robust Control in the dynamics of the robotic arm was applied by varying those parameters, building 100 samples in each case with variance by 1% first, after by 10%, and finally with 30% of the parameter set. It was observed that varying the gear reduction ratio motor of the first and second link exhibit better results than varying the length and mass of the second link. So an increased uncertainty in this parameter is more acceptable for the control applied.
Keywords
uncertainty, robust control, Two-Degrees-of-Freedom Robotic Arm
