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Dissertations / Theses on the topic 'Linear manipulator'

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Published: 4 June 2021
Last updated: 15 February 2022

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1

Lima, Jeferson José de [UNESP]. "Dinâmica e controle de manipuladores robóticos flexíveis, excitados por carregamento não-linear e não-ideal." Universidade Estadual Paulista (UNESP), 2017. http://hdl.handle.net/11449/152144.

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Manipuladores robóticos leves trazem diversas vantagens quanto ao custo de produção e eficiência na relação carga útil e peso do robô. No entanto a utilização de materiais leves tende a aumentar a flexibilidade estrutural, principalmente na transmissão do torque e nos elos. As propostas de manipuladores apresentadas neste trabalho possuem requisitos conflitantes, pois deseja-se a redução do peso dos mecanismos e aumentar o desempenho, surgem então alguns desafios de engenharia. Desta forma, esta tese trata da modelagem mecânica, análise dinâ- mica e controle híbridos, utilizando atuadores inteligentes, para manipuladores robóticos com características flexíveis. Dois principais modelos de manipuladores robóticos com características flexíveis serão considerados neste trabalho: um para carregamento de carga conectadas a um cabo e outro para manuseio de ferramenta rotativa, ambos com interação não-ideal do elemento manipulado. É possível verificar comportamento caótico ao adicionar a carga aos manipuladores, trazendo assim, maiores desafios a proposta de controle. Na estratégia de controle são considerados como atuadores os motores CC (Corrente Contínua) e atuadores classificados como materiais inteligentes como a Liga de Memória de Forma (LMF), atuando nos elos flexí- veis, e freio Magneto-Reológico (MR-Brake), atuando nas juntas flexíveis. Utilizou-se da rede neural RBFNN para estimativa das variáveis de controle dos atuadores LMF e MR-Brake. O controle DSDRE (Discrete State Dependent Ricatti Equation) é utilizado como a lei de controle. Os resultados numéricos mostram que a adição de atuadores híbridos trazem um ganho considerável no controle de vibração e posicionamento dos manipuladores.
Light-weight robotic manipulators have advantages over the cost of production and efficiency in relation to payload and weight of the robot. However, the use of light-weight materials tends to increase structural flexibility in torque transmission and in the links of the robot. The manipulator proposals presented in this work have conflicting requirements since it is desired to reduce the weight of the mechanisms and increase the performance, it makes some engineering challenges. Thus, this thesis deals with mechanical modeling, dynamic analysis and hybrid control, using intelligent actuators, for robotic manipulators with flexible characteristics. Two models of robotic manipulators with flexible characteristics will be considered in this work: one for payload connected to a cable and another one for rotary tool, both with non-ideal interaction of the manipulated element. It is possible to verify chaotic behavior by adding the load to the manipulators, becoming a great challenger to the proposal control. DC motors and actuators classified as intelligent materials such as the shape memory alloy (SMA), acting on the flexible links, and Magneto-Rheological Brake (MR-Brake), acting on the flexible joints, are used in the strategy control. The neural network RBF was used to estimate the control variables of the SMA and MR-Brake actuators. The DSDRE (Discrete State Dependent Ricatti Equation) control is used as the control law. The numerical results show that the addition of hybrid actuators possibly have a considerable gain in the control of vibration and positioning of the manipulators.
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2

Ho, Eric. "Linear Macro-Micro Positioning System Using a Shape Memory Alloy Actuator." Thesis, University of Waterloo, 2004. http://hdl.handle.net/10012/816.

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The use of high-precision automated equipment is steadily increasing due in part to the progressively smaller sizes of electronic circuits. Currently, piezoelectric transducers (piezos) dominate as the actuation device for high precision machines, but shape memory alloys (SMA) may be a viable alternative to reduce monetary costs. This work explores the implementation of a low-cost linear macro-micro positioning system. The system consists of a modified printer carriage to provide long range, macro scale linear motion (approximately 200 mm range and 200 µm precision) and a micro scale system (approximately 4 mm range and 5 µm target precision) that uses an SMA actuator. A detailed description of the design and implementation of the system is given in this research. A model of the macro-stage is then generated by first identifying and inverting a simple friction model to linearize the system, thereby allowing for modified least squares (MLS) identification of a linear model. Various controllers are attempted for the macro-stage and compared with an experimentally tuned nonlinear PD controller that is implemented in the final design. A model of the micro-stage is derived through analysis of the SMA actuator. The model for the actuator is separated into two portions, an electro-thermal model, and a hysteresis model. The hysteresis model is derived using the Preisach model, and the electro-thermal model through MLS identification. To control the micro-stage, a PI controller with antiwindup is developed experimentally. The two stages are then executed together in closed loop and the resulting coupling between the two stages is briefly examined. Experimental data used for the modelling and design is presented, along with results of the final macro-micro linear positioning system.
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3

Trutter, H. Benjamin. "A Finite Element Method for Linear Modeling and Control of a Single Flexible Link Robotic Manipulator." Thesis, Southern Illinois University at Edwardsville, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1560924.

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A linear finite element procedure is presented for modeling a single flexible link robotic manipulator system. The model takes into consideration the DC motor, torsional springs/dampers, cantilever beam and the accelerometer at the tip. The finite element method for system modeling is validated through comparison to experimental data using the frequency response. With a validated model for the system, feedback control is implemented for vibration reduction and accurate positioning of the beam tip. The accuracy of the controlled model is compared to experiment and a discrete time transfer matrix method of modelling. The closed-loop finite element method model exhibited an accurate response, related to experiment, with encoder feedback and accelerometer feedback using digital compensators

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4

Vojtěch, Michael. "Konstrukční návrh tříosého manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231951.

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The goal of master’s thesis is design of a three-axis manipulator working as x-ray unit. Axis include one rotary and two liner. The work is based on the existing manipulator and the goals are reducing vertical installation space, weight reduction, increasing accuracy and repeatability. Creating 3D model with computational report from available components. There is resulting variant solved with linear motor in this thesis with that there is indicated alternative variant but not dealt with in detail.
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Rijo, Marcos Giovane de Quevedo. "Desenvolvimento da base e controle do grau de liberdade rotacional de um robô cilíndrico com acionamento pneumático." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2013. http://hdl.handle.net/10183/75734.

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Este trabalho aborda o desenvolvimento da estrutura da base e do sistema de acionamento, transmissão e controle do 1º grau de liberdade de um robô cilíndrico de 5 graus de liberdade acionado pneumaticamente. A base é construída com alumínio estruturado de elevada rigidez, o que confere a sua estrutura mecânica baixas deformações em situações de operação do robô. Além de constituir a estrutura de apoio do manipulador, a base serve de repositório para diversos componentes de sensoriamento e comando dos diversos graus de liberdade do robô e ainda apresenta elementos estruturais que são utilizados como acumuladores de ar comprimido que servem para atenuar as flutuações de pressão nos atuadores pneumáticos. O 1º grau de liberdade do robô, de acordo com a concepção de um robô cilíndrico, é relativo ao giro do conjunto de elos do manipulador em torno do eixo vertical. O seu movimento é comandado por um atuador pneumático linear acoplado a um eixo rotativo por uma correia sincronizadora. O controlador proposto é baseado na técnica de realimentação de estados com alocação de polos e compensa a variação do momento de inércia do manipulador devida ao movimento do robô. Este esquema é baseado em um modelo matemático parametrizado que provê continuamente o valor de massa equivalente acoplada ao primeiro grau de atuador de liberdade. Assim, a cada ciclo de controle, os ganhos do controlador são recalculados a partir do valor atual da massa equivalente, visando a compensar sua variação. São apresentados resultados experimentais e discussões sobre o cálculo da massa equivalente e desempenho do controlador no seguimento de trajetória.
This work deals with the design of the base frame, drive, transmission and control systems used in the first degree of freedom of a pneumatically actuated cylindrical robot with five degrees of freedom. The base is constructed with high stiffness aluminum parts, which achieve low mechanical deformation in operational working conditions. Furthermore, the base structure in used as sensor and pneumatic components compartment and comprises aluminum structural elements that are used as accumulators compressed air used for reducing the pressure fluctuations on the pneumatic actuators operation. The first degree of freedom, according to the usual design of a cylindrical robot, is relative to the rotation of the manipulator arm around its vertical axis. This degree of freedom is controlled by a linear pneumatic actuator coupled to a rotary axis mechanism by an industrial synchronous belt. The proposed controller is based on the state feedback technique with pole location and compensates the variation of the moment of inertia of the manipulator due to the motion of the robot. This scheme is based on a parameterized mathematical model that continuously provides the equivalent mass value coupled to the first degree of freedom actuator. So, in each control cycle, the controller gains are recalculated on the basis of the equivalent mass, compensating its variation. Results of experiments and discussions about the equivalent mass calculation and controller performance are presented.
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Soják, Vojtěch. "Konstrukce dvouosého manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231978.

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This master thesis deals with the design of a two-axis manipulator according to entered parameters. In the first chapter provides description of kinematics structures of industrial robots and manipulators and their workspaces. Next parts focus on search in the used components, producers of manipulators and of current design manipulators at JCEE s.r.o. Lanškroun. The practical part deals with the design and construction of custom manipulator and its price calculation.
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Oliveira, Israel Gonçalves de. "Comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicados a manipuladores robóticos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156791.

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Este trabalho apresenta uma comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicadas a manipuladores robóticos. O objetivo no uso desses controladores é para que o manipulador siga referência de trajetória periódica no espaço das juntas. O desenvolvimento e implementação dos controladores são focados no manipulador WAM (Whole Arm Manipulator) da Barrett Technology®Inc. Neste trabalho, também são apresentadas uma formulação do modelo não linear do manipulador e as sínteses dos controladores por torque calculado e repetitivo aplicados ao modelo do manipulador linearizado por realimentação. O controlador por torque calculado é apresentado e sintetizado na sua forma clássica. Para o controlador repetitivo, a síntese parte do princípio do modelo interno com a adição de uma estrutura repetitiva e uma realimentação proporcional e derivativa do erro de seguimento de referência O projeto dos ganhos do controlador repetitivo é feito através de um problema de otimização convexa com restrições na forma de inequações matriciais lineares (ou no inglês: Linear Matrix Inequalities - LMI). A formulação do problema de otimização parte da teoria de estabilidade segundo Lyapunov com um funcional Lyapunov-Krasoviskii, adição de um custo quadrático, para ajuste de desempenho, e de um critério de desempenho transitório dado pela taxa de decaimento exponencial da norma dos estados. É apresentada a comparação entre as estratégias de controle e a validação do controlador repetitivo proposto aplicado ao caso com linearização perfeita e ao caso com o modelo não linear do manipulador. No primeiro caso, é feita a simulação do modelo linear do manipulador com adição de um torque de atrito na junta. No segundo caso, é utilizado o sistema ROS (Robot Operating System) com o programa Gazebo simulando o manipulador WAM considerando erros de linearização, isto é, incertezas paramétricas.
This work presents a comparison between the strategies of computed-torque control and repetitive control applied to robotic manipulators. The main objective in use these controllers with the manipulator is to tracking periodic trajectory in joint space. The development and implementation of controllers are focused on the Whole Arm Manipulator (WAM) of the Barrett Technology®Inc. Also featured are a non-linear model formulation of the manipulator and the synthesis of controllers for computed-torque control and repetitive control applied to the manipulator model linearized by state feedback. The computed-torque controller is presented in its classic form. For the repetitive controller, the synthesis is based on the internal model principle with the addition of a repetitive structure and a proportional-derivative reference tracking error feedback. The design of the repetitive controller gains is done through a convex optimization problem with linear matrix inequalities (LMI) constraints. The formulation of the optimization problem is based on the Lyapunov stability theory using a Lyapunov-Krasoviskii functional, addition of a quadratic cost for performance adjustment and a transient performance criteria given by the exponential decay rate of the states norm. A comparison between the control strategies and the validation of the repetitive controller applied to the case with perfect linearization and the case with the non-linear model of the manipulator are presented. In the first case, is made simulations of the linear model of the manipulator in MATLAB program, with the addition of a disturbance modeling the friction torque at the joint. In the second case, is used the Robot Operating System (ROS) with Gazebo program simulating the WAM nonlinear model. In this case, a possible mismatch between the model used for the feedback linearization and the real system is taken into account.
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Rydlo, Andrej. "Automatická výměna nástrojů - napichovací rameno." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417764.

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Adressed topic of the thesis is automatic tool change in industrial machining. Core work is done on construction design of automatic tool changer. Designed manipulator grabs the tool by linear movement and is meant to be used with unspecified horizontal machining centre. Individual working cells include design of grippers, extending motion of the arm, rotary motion of the arm and linear motion of the whole manipulator. Essential part of the thesis are technical calculations and simulations.
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Florián, Michal. "Návrh paletizačního manipulátoru." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229295.

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The matter of this master´s thesis is the construction of two variations of manipulator for palletization. The first solution is the derrick manipulator; the second one is the gantry manipulator. The aim of this master´s thesis is the comparison of both solutions from the point of view of the applicability, the cost and the demandingness of production. The productinon documentation will be elaborated for the selected solution.
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Domino, Lucie. "Contrôle et manipulation d'ondes hydroélastiques." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLET020.

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Cette thèse porte sur la physique des ondes, dans le but de contrôler leur propagation. Nous cherchons à mettre en évidence des phénomènes communs à toutes les ondes grâce à un système expérimental modèle utilisant les ondes à la surface d’un liquide. Plus précisément, nous choisissons de travailler avec des ondes hydroélastiques en couvrant la surface du liquide avec un film élastique. Les déformations élastiques de cette membrane sont couplées aux mouvements du fluide, de sorte qu’en modifiant les propriétés de la membrane nous pouvons agir sur la propagation des ondes. Ainsi, en changeant localement l’épaisseur du film élastique nous montrons qu’il est possible de dévier, réfléchir ou encore focaliser les ondes. Ensuite, en structurant périodiquement la membrane nous mettons en évidence des effets liés à la périodicité et/ou à la nature des objets formant le réseau régulier. Nous utilisons des perforations circulaires dont nous varions le diamètre, l’espacement et l’arrangement dans l’espace, ce qui nous permet de contrôler très finement le comportement des ondes dans le cristal artificiel ainsi formé. Nous mettons notamment en évidence l’existence de bandes interdites de propagation. Enfin, nous re-visitons l’instabilité de Faraday, connue en hydrodynamique, en vibrant verticalement un bain liquide recouvert d’une membrane élastique, et nous montrons que cette instabilité existe également pour les ondes hydroélastiques
This thesis deals with waves at the surface of a liquid, and aims at controlling their propagation. We want to show universal results, valid for all waves, using model experiments. We work with hydroelastic waves, obtained with an elastic membrane that covers the liquid surface. The elastic deformation of this membrane couples with the motion of the fluid, so that we can change the propagation of the waves by modifying the properties of the elastic cover. We show that if we locally change the thickness of the elastic cover, we can deviate, reflect or focus the waves. We then periodically structure the membrane and thus unveil effects due to he periodicity and/or the nature of the objects that form the regular array. We use an ensemble of circular perforations of which we vary the diameter, the spacing and the pattern, in order to accurately control the propagation of the waves in this artificial crystal. In particular, we show that there exist band gaps for the waves. Lastly, we re-visit the Faraday instability, known in hydrodynamics, by vertically vibrating a fluid layer covered with an elastic membrane, and we show that this instability also exist for hydroelastic waves
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Zhu, Jihong. "Vision-based robotic manipulation of deformable linear objects." Thesis, Montpellier, 2020. http://www.theses.fr/2020MONTS008.

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En robotique, la manipulation d'objets déformables reçoit moins d'attention que celle d'objets rigides. Pourtant, de nombreux objets dans la vie réelle sont déformables. La recherche sur la manipulation d'objets déformables est indispensable pour doter les robots d'une dextérité de manipulation totale. La difficulté majeure de ce problème est que déformation de l'objet a un espace de configurations de dimensions infinie, tandis que les entrées du robots sont limitées. Dans le cadre de VERSATILE, un projet H2020 axé sur l'automatisation industrielle à l'aide de robots, nous avons axé nos recherches sur la manipulation d'objets déformables linéaires (câbles) par retour visuel.Une caractéristique de la manipulation des objets déformables est que la forme de l'objet change pendant la manipulation. Par conséquent, un problème important consiste à contrôler la forme de l'objet pendant la manipulation. Nous avons abordé le problème du contrôle de forme en exploitant le retour visuel.Dans un premier temps, nous avons représenté la forme de l'objet avec une série de Fourier. Nous estimons et mettons à jour la matrice d'interaction en ligne, puis nous concevons le contrôleur pour contrôler la forme.Ensuite, au lieu d'utiliser une caractéristique définie par l'humain pour le paramétrage, nous avons laissé le robot apprendre automatiquement les vecteurs de caractéristiques à partir des données visuelles. Nous proposons une méthode qui permet au robot de générer simultanément - et à partir des mêmes données - un vecteur de caractéristiques ainsi que la matrice d'interaction. Cette méthode nécessite un minimum de données pour l'initialisation. L'apprentissage et le contrôle peuvent être effectués en ligne de manière adaptative. Nous pouvons appliquer la même méthode à la manipulation d'objets rigides, directement et sans modification.Ces deux travaux ne requièrent aucune calibration de la caméra et ont été validés avec des expérimentations de robotique réelle.Un autre domaine d'importance dans la manipulation d'objets déformables est l'utilisation de contacts externes pour contrôler la forme de l'objet. Les contacts externes peuvent et doivent être utilisés pour la manipulation d'objets déformables. Nous considérons un scénario fréquent dans l'industrie - l'acheminement de câbles avec des contacts externes comme processus à automatiser avec notre robot. Nous proposons un algorithme de planification qui permet au robot d'utiliser des contacts pour déformer le câble et pour obtenir la configuration souhaitée. Des expériences robotiques réelles avec différents scénarios de placement de contacts permettent de valider nos algorithmes
In robotics, the area of deformable object manipulation receives far less attention than that of rigid object manipulation. However, many objects in real life are deformable. Research on deformable object manipulation is indispensable to equip robots with full manipulation dexterity. Deformable linear object (DLO) is one type of deformable objects that commonly presents in the industry and households, for instance, electrical cables for power transfer, USB cables for data transfer, or ropes for dragging and lifting equipment. In the context of H2020 VERSATILE, a project focusing on industrial automation using robots, we focus our research on DLO manipulation via visual feedback.One characteristic of deformable object manipulation is that the object shape changes while being manipulated. Consequently, a research direction is to control the shape of the object during manipulation. We tackle the shape control problem by using vision. Initially, we parameterize the shape with Fourier series, estimate and update the interaction matrix online, and finally control the DLO shape.In the subsequent research, instead of using human-defined features for parameterization, we let the robot automatically learn feature vectors from visual data. We propose a method that allows the robot to simultaneously generate a feature vector and the interaction matrix from the same data. Our approach requires minimum data for initialization. Learning and control can be done online in an adaptive manner. We can also apply the method to rigid object manipulation directly without modification.Neither of the two frameworks requires camera calibration, and both are verified with simulation and real robotic experiments.Another area of importance in deformable object manipulation is the utilization of external contacts. The object deformation is defined in a configuration space of infinite dimension. Nonetheless, the inputs from robots are limited. External contacts can and should be used for manipulating deformable objects. We take a practical scenario in the industry -- cable routing with external contacts as the process to automate with our robot. We propose a planning algorithm that allows the robot to use contacts for shaping the cable and achieving the desired cable configuration. Real robotic experiments with different contact placement scenarios further validate the algorithms
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12

Acker, Jürgen. "Handhabung deformierbarer linearer Objekte basierend auf Kontaktzuständen und optischer Sensorik /." Aachen : Shaker, 2008. http://d-nb.info/990866513/04.

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13

Wang, Zhifeng. "Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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With the development of materials science, deformable material objects are used in more andmore fields. Handling of deformable soft objects can be found in many industrial fields includingfood industry and recycle industry. But deformable objects are different from rigid objects. Thereis still room for development of material control, in which the use of computers to simulate controlplays an important role. In this thesis, a physical model of the cable is established based ongeometrically exact dynamic splines, and the simulink of matlab is used to develop the model ofthe cable to establish a control system. Under the action of this control system, the cable can reacha designated position and form the desired shape through a series of operations from the defaultposition and the straight starting state. In this process, the cable will contact the establishedobstacle model and will be affected by the interaction force provided by the obstacle model.At theend of the thesis, the simulation results are analyzed.
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14

Mejzlík, Jiří. "Návrh jednoúčelového stroje pro měření průhybu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232101.

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The aim of the thesis is to design a special purpose tool for sag measurement. Three possible solutions are proposed, for each the production cycle time is calculated and its approximate costs are estimated. The best solution in terms of a trade-off between both key quantities is suggested. Next part of the work deals with the selection of suitable drives for the manipulator as well as of the other components for the whole electrical device. Finally, a possible automated control of the complete machinery, including the electrical wiring diagram, is presented.
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15

Kitagawa, Akira. "Manipulation of Photon Number-States and Its Linear Optical Realization." 京都大学 (Kyoto University), 2004. http://hdl.handle.net/2433/147620.

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Meira, Anrafel Silva. "Identificação não linear de um manipulador eletromecânico de três graus de liberdade." Universidade Federal da Paraíba, 2014. http://tede.biblioteca.ufpb.br:8080/handle/tede/7571.

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Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPES
This paper presents multivariable nonlinear mathematical models with estimable parameters in online identification for an electromechanical manipulator, thus enabling practical applications of adaptive control techniques. The manipulator comprises three rotary joints and three links appointed link 1, 2 and 3. The total displacement of the link 1 is 180° and of the link 2 is 110 °, with each of these links being driven by a direct current motor, while the link 3 has its motion controlled by a mechanical system that always keeps the horizontal position. The identification process started of the nonlinear autoregressive model with exogenous variables (NARX) for multiple inputs and multiple outputs, using the error reduction rate (ERR) method, coupled nonlinear, decoupled nonlinear and decoupled linear models were determined to the link 1 and link 2 of the manipulator. The Recursive Least Squares (RLS) estimator is used to estimate the parameters of the representative model of the robot manipulator links 1 and 2, thus verifying the efficiency of the models obtained in the online identification.
Este trabalho apresenta modelos matemáticos não lineares, multivariáveis com parâmetros estimáveis em identificação online para um manipulador eletromecânico, permitindo assim aplicações práticas de técnicas de controle adaptativo. O manipulador é composto por três juntas rotativas e três elos nomeados de elo 1, 2 e 3. O deslocamento total do elo 1 é de 180° e do elo 2 é de 110°, sendo cada um desses elos comandado por um motor de corrente contínua, enquanto o elo 3 tem o seu movimento comandado por um sistema mecânico que sempre o mantém na posição horizontal. O processo de identificação partiu do modelo auto-regressivo com entradas exógenas NARX (Nonlinear Autoregressive Model with Exogenous Variables) para múltiplas entradas e múltiplas saídas MIMO (Multiples Inputs and Multiplex Outputs). Utilizando o método da taxa de redução de erro ERR (Error Reduction Rate), determinando os modelos não lineares acoplados, não lineares desacoplados e lineares desacoplados para o elo 1 e elo 2 do manipulador. O estimador dos Mínimos Quadrados Recursivos (MQR) é utilizado para a estimação dos parâmetros do modelo representativo dos elos 1 e 2 do robô manipulador, verificando assim as eficiências dos modelos obtidos na identificação online.
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Kozak, Kristopher Charles. "Dynamic analysis of parallel manipulators and digital inut shaper computation using linear optimization." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/16378.

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18

Shah, Ankit Jayesh. "Planning for manipulation of interlinked deformable linear objects with applications to aircraft assembly." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105640.

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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 83-87).
Manipulation of deformable linear objects (DLO) has potential applications in the fields of aerospace and automotive assembly. In this paper, we introduce a problem formulation for attaching a set of interlinked DLOs to a support structure using a set of clamping points. The formulation describes the manipulation planning problem in terms of known clamping locations; pre-determined ideal clamping locations on the cables, called "reference points", and a set of finite gripping points on the DLOs. We also present a prototype algorithm that generates a solution in terms of primitive manipulation actions. The algorithm guarantees that no interlink constraints are violated at any stage of manipulation. We incorporate gravity in the computation of a DLO shape and propose a property linking geometrically similar cable shapes across the space of cable length and stiffness. This property allows for the computation of solutions for unit length and scaling of these solutions to appropriate length, potentially resulting in faster shape computation.
by Ankit Jayesh Shah.
S.M.
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Paracencio, Luis Gustavo de Mello. "Projeto e montagem experimental de um manipulador robotico não-linear de dois graus de liberdade." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264672.

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Orientadores: Helder Anibal Hermini, Jose Manoel Balthazar
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: A partir de considerações de dinâmica não-linear aplicada à robótica, foi desenvolvida a montagem experimental de um manipulador de dois graus de liberdade em que à primeira junta é atuada e a segunda é sub-atuada. Para tal, foram estabelecidos os objetivos para a concepção do protótipo gerado. A montagem experimental foi realizada a partir do desenvolvimento de manipuladores de dois graus de liberdade, considerados rígidos, podendo ser futuramente estendidos a outros graus de liberdade com alguma flexibilidade. A partir dos resultados apresentados, puderam ser verificadas as vantagens e desvantagens da utilização das arquiteturas de controladores aplicadas ao comando de mecanismos robóticos
Abstract: From reasons of applied nonlinear dynamics to robotics, it was developed an experimental setting of manipulator of two degrees of freedom where to the first joint is acted and second is sub-acted. The objectives had been established for the conception of the generated archetype. The experiment was carried through the development of manipulators of two degrees of freedom considered rigid. It can be extended to other degrees of freedom with some flexibility in future. The advantages and disadvantages of the use of architectures of controllers could be identified for applied to the command of mechanisms robotics
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Schlüter, Melissa dos Santos. "Controle não linear adaptativo com compensação de atriti de um manipulador scara com acionamento pneumático." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/178507.

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Sistemas pneumáticos se tornaram cada vez mais presentes em vários segmentos do mercado e são amplamente utilizados na indústria, principalmente devido à sua facilidade de manutenção, baixo custo, segurança e aplicabilidade em diversos processos. O desenvolvimento contínuo da tecnologia conduziu a um aumento nas pesquisas relacionadas ao controle de sistemas de servoposicionamento pneumático, resultando em algoritmos que têm avançado na direção da disponibilização de controle mais preciso destes sistemas. O presente trabalho se propõe ao desenvolvimento de um manipulador tipo SCARA composto por dois atuadores rotativos e um prismático, todos pneumáticos. Estes dispositivos apresentam grandes não linearidades, que dificultam seu controle. Assim, visa-se no presente trabalho o desenvolvimento de um controlador baseado em um modelo que possa superar as principais dificuldades relacionadas a essas não linearidades, como o comportamento não linear da relação pressão-vazão na servoválvula, a dinâmica dos gases na aleta e as forças de atrito O principal objetivo dessa tese é propor uma estratégia de controle baseada na Lei do Torque Computado Adaptativo com compensação explícita do atrito que contemple as peculiaridades dinâmicas estruturais deste tipo de sistema com aplicação de controle de trajetória. O modelo matemático para o atuador pneumático rotativo proposto no âmbito do presente trabalho e utilizado na síntese desse controlador foi avaliado por meio de resultados de simulações e experimentos executados em um protótipo projetado e construído também no escopo do presente trabalho. Os resultados da aplicação do controlador proposto, operando em regime de seguimento de trajetórias contínuas indicam que a estratégia de controle do Torque Computado Adaptativo, em conjunto com o esquema de compensação explícita do atrito, leva o sistema a uma redução dos erros de seguimento de trajetória em posição quando comparado com as técnicas do Torque Computado com parâmetros fixos, Torque Computado com parâmetros fixos com compensação explícita do atrito e Torque Computado Adaptativo sem a compensação explícita do atrito.
Pneumatic systems become increasingly present in different segments of the market and are widely used in industry, mainly due to their ease of maintenance, low cost, safety and applicability in various processes. The continued development of technology resulted in an increase in the research related to the control of pneumatic servo drive positioning systems, resulting in algorithms that have advanced in the direction of the availability of more precise control of these systems. This study has the purpose of to develop a type pneumatic driven SCARA manipulator that consists of a prismatic and two rotary actuators. These devices present highly nonlinear, which harder their control. Thus, the target of this work is to develop a controller based on a model that can overcome the main difficulties related to these nonlinearities, such as the nonlinear behavior of the pressure-flow ratio in the servo valve, the gas dynamics in the fin and friction. The main objective of this thesis is to propose a control strategy based on the Adaptive Computed Torque Law with explicit compensation of the friction that contemplates the structural dynamic peculiarities of this type of system with application of trajectory control The mathematical model for the rotary pneumatic actuator proposed in the present work and used in the synthesis of this controller was evaluated through simulations results and experiments executed in a prototype designed and also built in the scope of the present work. The results of the application of the proposed controller, operating in continuous trajectories tracking regime, indicate that the Adaptive Computed Torque control strategy, together with the explicit friction compensation scheme, leads the system to a reduction of the following errors trajectory in position when compared to techniques as Computed Torque with fixed parameters, Torque Computed with explicit friction compensation and Computed Torque Adaptive without explicit friction compensation.
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Cesconeto, Emanuel Moutinho. "Metodologia de desenvolvimento de um manipulador hidráulico para atuação na indústria." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/186157.

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Este trabalho aborda o desenvolvimento de uma metodologia para a da determinação de parâmetros de projeto de uma classe de robôs industriais hidráulicos com atuadores lineares diretamente acoplados aos elos. Um robô típico desta classe pode ser dividido em três partes: a base, o braço e o punho, sendo que, no presente trabalho, é abordado o desenvolvimento do braço. São propostos métodos sistemáticos para a determinação das dimensões dos elos, dos cursos angulares das juntas, dos pontos de acoplamento dos atuadores, da estrutura principal dos elos, e para a sistematização do procedimento de especificação dos atuadores e unidades de potência hidráulica. Estes métodos dependem da predefinição por um projetista das necessidades técnicas das tarefas que o robô deve realizar, a partir dos quais os métodos então buscam a determinação dos parâmetros ótimos do braço para estas tarefas. Também é apresentada a cinemática direta, inversa, e a matriz Jacobiana, e é feito o equacionamento da dinâmica do braço em forma matricial, considerando a influência da inércia e peso dos atuadores, de modo a permitir a análise dos carregamentos e facilitar o controle. As equações propostas são verificadas com comparações com softwares comerciais e resultados disponíveis na literatura. Um programa computacional que implementa a metodologia deste trabalho foi desenvolvido e aplicado para determinar os parâmetros de dois braços propostos como estudo de casos. A metodologia se mostrou capaz de rapidamente especificar o braço adequado para cada caso, calculando as características de desempenho que deverão possuir se construídos. Estes dados podem ser aplicados para a construção de um robô hidráulico, ou para assistir o projetista a determinar se um robô hidráulico é adequado ou não para realizar as tarefas predefinidas.
This work presents the development of a methodology for the determination of the design variables of a class of hydraulic industrial robots with linear actuators directly coupled to the links. A typical robot of this class can be divided in three parts: the base, the arm and the wrist, of which the development of the arm is tackled in this work. Systematic methods are proposed for the determination of the links’ dimensions, the joints’ angular strokes, the coupling points for the actuators, the main structure of the links, and for the systematization of the procedure used to specify the actuators and pumps. These methods depend on the technical specifications, predefined by the designer, that are required for the arm to be able to perform a given set of tasks, and then seek the optimum parameters for the arm. The direct and inverse kinematics are also presented, as well as the Jacobian matrix, and the dynamics of the arm are calculated in matrix form, taking into consideration the inertia and weight of the actuators, so as to allow the analysis of the structural loads and facilitate the control. The proposed equations are verified via comparisons with commercial software and results found in the literature. A computer program that implements the methodology of this work was developed and used to determine the parameters of two proposed arms as a case study. The program was able to quickly specify the configurations for the arm of each case, and also calculate the performance characteristics the arms should possess if built. This data can be used to build a hydraulic arm, or even to help the designer to determine if a hydraulic robot is ideal or not for the given set of tasks.
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22

Nigrowsky, Pierre. "Variable structure control of robot manipulators (the example of the SPRINTA)." Thesis, Brunel University, 2000. http://bura.brunel.ac.uk/handle/2438/4827.

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The subject of this thesis is the design and practical application of a model-based controller with variable structure control (VSC). Robot manipulators are highly non-linear systems, however they form a specific class in the non-linear group. Exact mathematical descriptions of the robot dynamics can be achieved and further, robot manipulators have specific useful properties that can be used for the design of advanced controllers. The inclusion of the inverse dynamic description of the robot manipulator as a feedforward term of the controller (model-based controller) is used to transform two non-linear systems i.e. the controller and the robot, into one linear system. The limitation of this technique arises from the accuracy of the inverse dynamic model. The linearisation only takes place if the model is known exactly. To deal with the uncertainties that arise in the model, a control methodology based on variable structure control is proposed. The design of the controller is based on a Lyapunov approach and engineering considerations of the robot. A candidate Lyapunov function of a pseudo-energy form is selected to start the controller design. The general form of the controller is selected to satisfy the negative definiteness of the Lyapunov function. The initial uncertainties between the actual robot dynamics and the model used in the controller are dealt with using a classical VSC regulator. The deficiencies of this approach are evident however because of the chattering phenomenum. The model uncertainties are examined from an engineering point of view and adjustable bounds are then devised for the VSC regulator, and simulations confirm a reduction in the chattering. Implementation on the SPRINTA robot reveals further limitations in the proposed methodology and the bound adjustment is enhanced to take into account the position of the robot and the tracking errors. Two controllers based on the same principle are then obtained and their performances are compared to a PID controller, for three types of trajectory. Tests reveal the superiority of the devised control methodology over the classic PID controller. The devised controller demonstrates that the inclusion of the robot dynamics and properties in the controller design with adequate engineering considerations lead to improved robot responses.
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23

Almeida, Rynaldo Zanotele Hemerly de. "Modelagem dinâmica e controle de robô manipulador de arquitetura paralela assimétrica de três graus de liberdade." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/3/3151/tde-19092014-113652/.

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Este trabalho trata da modelagem dinâmica e do projeto de sistemas de controle para um robô manipulador de arquitetura paralela assimétrica de três graus de liberdade, correspondente a três translações de seu efetuador no espaço tridimensional, concebido para tarefas de pega-e-põe (pick-and-place). Dentre os desenvolvimentos teóricos, procurou-se estender, para toda gama de robôs paralelos e topologicamente assimétricos, a abrangência dos procedimentos aplicados inicialmente a este caso específico. Foram empregados o Método de Lagrange e o Princípio dos Trabalhos Virtuais na obtenção de modelos dinâmicos baseados em hipóteses simplificadoras de corpos rígidos de massas concentradas e de massas distribuídas. Para o projeto de controladores, foram utilizadas as técnicas de torque computado e torque computado estendido. As formulações correspondentes a estas técnicas foram aprimoradas de forma a permitir o cálculo de esforços de controle de modo equivalente tanto nas coordenadas dos atuadores como nas coordenadas do efetuador e em conformidade com os requisitos de resposta dinâmica definidos para o robô. Tais requisitos podem ser inclusive anisotrópicos, o que se julga ser mais apropriado para robôs paralelos assimétricos. Particularmente em relação ao robô analisado, foram avaliados efeitos de simplificação do modelo dinâmico e da discretização do controlador (incluindo discretização com dupla frequência de amostragem) sobre os erros de controle de posição. Percebeu-se que os requisitos de alto desempenho das tarefas de pega-epõe levam o projeto do controlador ao limite de validade da hipótese simplificadora de corpo rígido e da capacidade de processamento do hardware de controle.
This work deals with the dynamic modeling and the design of control systems for an asymmetric parallel manipulator robot with three degrees of freedom, related to three translations of its end-effector in the tridimensional space, conceived for pick-andplace tasks. Among the theoretical developments, one of them was the extension of the proposed procedures, initially applied to this specific case, to the whole class of topologically asymmetric and parallel mechanisms. The Lagrange Method and the Principle of Virtual work were employed in order to build dynamic models based on rigid body assumption with either lumped or distributed mass simplification hypothesis. For the controllers design, computed torque and extended computed torque techniques were used. The formulations of such techniques were elaborated in order to allow the calculation of the control efforts to be executed equivalently both on the actuators coordinates and on the end-effector coordinates, in accordance with the dynamic response requirements defined for the robot. These requirements may be even anisotropic, what is considered to be more suitable for asymmetric parallel robots. Particularly about the analyzed robot, the effects of dynamic model simplification and controller discretization (including double sample rate discretization) on the position control errors were evaluated. It was realized that the high performance requirements for pick-and-place tasks push the controller design to the limit of validity of the rigid body assumption and of the control hardware processing capacity.
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Siqueira, Adriano Almeida Gonçalves. "Controle H 'INFINITO' não linear de robôs manipuladores subatuados." Universidade de São Paulo, 2004. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-18012005-164025/.

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Este trabalho apresenta o desenvolvimento, implementação e análise de técnicas de controle H 'INFINITO' não lineares para robôs manipuladores subatuados, sujeitos a incertezas paramétricas e distúrbios externos. Na primeira parte, duas abordagens são consideradas para robôs manipuladores individuais subatuados. A primeira abordagem consiste em representar robôs manipuladores como um sistema não linear na forma quase-linear com parâmetros variantes e utilizar técnicas de controle H 'INFINITO' para sistemas lineares a parâmetros variantes baseadas em desigualdades matriciais lineares. Na segunda abordagem, uma solução explícita do problema de controle H 'INFINITO' não linear para robôs manipuladores é encontrada via teoria dos jogos diferenciais. Com este mesmo procedimento, implementam-se também os controles misto H'IND.2'/H 'INFINITO' não linear, adaptativo H 'INFINITO' não linear e adaptativo H 'INFINITO' não linear com redes neurais para robôs manipuladores. Também é desenvolvido um sistema tolerante a falhas para robôs manipuladores baseado em sistemas Markovianos e em controladores Markovianos H'IND.2', H 'INFINITO' e H'IND.2'/ H 'INFINITO'. Na segunda parte, o modelo dinâmico de robôs manipuladores cooperativos subatuados é representado na forma de espaço de estados, possibilitando a aplicação dos controladores H 'INFINITO' não lineares para controle de posição, juntamente com controle das forças de esmagamento, de um objeto.
This work presents the development, implementation and analysis of nonlinear H‡ control techniques applied to underactuated manipulators, under parametric uncertainties and external disturbances. At the first part, two approaches are considered for underactuated individual manipulators. The first approach consists in representing manipulators as nonlinear systems in the quasi-linear parameter varying form and in controlling them via H‡ control for linear parameter varying systems based on linear matrix inequalities. At the second approach, an explicit solution to the nonlinear H‡ control problem for manipulators is found via differential game theory. With this procedure, it is also implemented the nonlinear mixed H2/H‡, nonlinear adaptive H‡, and nonlinear adaptive H‡ with neural networks controls. Also is developed a fault tolerant system for manipulators based on Markovian systems and Markovian H2, H‡, and H2/H‡ controls. At the second part, the dynamic model of underactuated cooperative manipulators is represented in the state space form in order to apply the nonlinear H‡ controls to position control, plus the squeeze force control, of an object.
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Pavelec, Jiří. "Vývoj lineárního posuvu pro UHV STM/AFM." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2011. http://www.nusl.cz/ntk/nusl-229812.

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The aim of this diploma thesis is to develop a linear positioning stage for Ultra High Vacuum (UHV) environment. Simple prototypes of the linear positioning stage were designed and incorporated as part of a multiaxis sample manipulator for a UHV Scanning Tunneling Microscopy / Atomic Force Microscopy (STM/AFM). Different types of position encoders and linear guideways are discussed. Implementation of the homodyne interferometer as an optimization tool for a slip-stick based linear stage is described. Scalar diffraction theory is used to model the diffraction grating optical position encoder behavior.
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Anderson, Jeffrey V. "Automated Manipulation for the Lotus Filament Winding Process." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1224.pdf.

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27

Pazelli, Tatiana de Figueiredo Pereira Alves Taveira. "Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/.

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Robôs manipuladores espaciais serão aplicados, em um futuro próximo, em serviços de resgate e manutenção de naves e satélites em órbita. O estudo e o desenvolvimento de controladores para esse tipo de sistema é fundamental para que essas aplicações se tornem realidade. Nesta tese, uma plataforma experimental é construída para possibilitar a avaliação comportamental desse tipo de sistema. Baseada em um módulo de flutuação por colchões de ar, é composta por uma base livre, elos conectados por juntas e efetuadores. Duas possibilidades de flutuação foram definidas para tornar a estrutura mais versátil, a primeira utiliza uma câmara de ar na mesa de apoio e a segunda utiliza câmaras de ar na base e em cada junta do robô. Sua estrutura mecânica modular permite diversas configurações, com um ou dois braços compostos por elos rígidos ou flexíveis. Toda a eletrônica de comando e a alimentação dos componentes do robô são alocadas em sua base flutuante, baseando a comunicação do sistema com o computador remoto em um padrão de comunicação sem fio. O software de controle, desenvolvido em Matlab e residente no computador remoto, apresenta uma interface amigável e intuitiva, possibilitando a utilização tanto do UARM como do robô de base livre flutuante para testes simulados e experimentais de sistemas de controle. A principal característica dos manipuladores espaciais é o acoplamento dinâmico entre a base e o braço robótico. A fim de evitar as complicações envolvidas no mapeamento cinemático desses sistemas, o problema de acompanhamento de trajetória é formulado diretamente no espaço da tarefa. Assim as posições do efetuador do manipulador são diretamente controladas. O equacionamento dinâmico do manipulador de base livre flutuante é descrito a partir do conceito do Manipulador Dinamicamente Equivalente. Propõe-se uma solução de controle adaptativo robusto baseado no critério H Infinito para lidar com o problema de acompanhamento de trajetória sujeito a incertezas no modelo e distúrbios externos. A adaptabilidade das redes neurais é aliada à robustez definida por um controlador H Infinito não linear, compondo diferentes técnicas desenvolvidas de acordo com o conhecimento e a disponibilidade do modelo do robô para o controlador. A análise de resultados de simulação e de experimentos realizados no UARM mostraram a aplicabilidade dos métodos, assim como sua capacidade de robustez. Gráficos ilustraram o procedimento do acompanhamento de trajetória realizado pelo efetuador do manipulador espacial identificando a ação das leis de controle propostas. Uma comparação numérica entre as estratégias foi estabelecida por índices de desempenho relacionados ao consumo de energia e ao erro de acompanhamento
Space manipulators robots will be applied, in a near future, in rescue services and maintenance of spacecraft and satellites in orbit. The study and development of controllers for this type of system is crucial to ensure that those applications become reality. At this thesis, an experimental platform is built to enable behavioral assessment of this type of system. Based on a floating module by air bearings, it is composed by a free base, links connected by joints and end-effectors. Two possibilities of fluctuation were set to make the structure more versatile. The first uses an air chamber in the support desk and the second uses air chambers at the base and in each joint of the robot. Its modular mechanical structure allows a variety of configurations, with one or two arms which may be composed of flexible or rigid links. The entire command electronics and the power of the robots components are allocated in its floating base, basing the system communication with the remote computer in a wireless communication standard. The control software, developed in Matlab and residing on the remote computer, presents a friendly and intuitive interface, enabling the use of both the UARM and the free-floating base robot for simulated and experimental testing of control systems. The main characteristic of space manipulators is the dynamic coupling between the base and the robotic arm. In order to avoid the complications involved in kinematic mapping of these systems, the problem of trajectory tracking is formulated directly in task space. So the positions of the manipulator end-effector are directly controlled. The dynamic equation of the free-floating manipulator is described from the concept of Dynamically Equivalent Manipulator. A solution of adaptive robust control is proposed, based on H¥ criterion to deal with the problem of trajectory tracking subject to uncertainties in the model and external disturbances. The adaptability of neural networks is combined with robustness defined by a nonlinear H Infinite controller composing different techniques developed in accordance with the knowledge and the availability of the robots model to the controller. The analysis of results of simulation and experiments performed in UARM showed the applicability of the methods, as well as its capacity for robustness. Graphs have illustrated the trajectory tracking procedure conducted by the end-effector of the space manipulator identifying the action of control laws proposed. A numerical comparison between the strategies was provided by performance indices related to energy consumption and the tracking error
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28

Lima, Jeferson José de. "Dinâmica e controle de manipuladores robóticos flexíveis, excitados por carregamento não-linear e não-ideal /." Bauru, 2017. http://hdl.handle.net/11449/152144.

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Orientador: José Manoel Balthazar
Coorientador: Ângelo Marcelo Tusset
Banca: Max Mauro Dias Santos
Banca: Paulo José Amaral Serni
Banca: Paulo Sergio da Silva
Banca: Atila Madureira Bueno
Resumo: Manipuladores robóticos leves trazem diversas vantagens quanto ao custo de produção e eficiência na relação carga útil e peso do robô. No entanto a utilização de materiais leves tende a aumentar a flexibilidade estrutural, principalmente na transmissão do torque e nos elos. As propostas de manipuladores apresentadas neste trabalho possuem requisitos conflitantes, pois deseja-se a redução do peso dos mecanismos e aumentar o desempenho, surgem então alguns desafios de engenharia. Desta forma, esta tese trata da modelagem mecânica, análise dinâ- mica e controle híbridos, utilizando atuadores inteligentes, para manipuladores robóticos com características flexíveis. Dois principais modelos de manipuladores robóticos com características flexíveis serão considerados neste trabalho: um para carregamento de carga conectadas a um cabo e outro para manuseio de ferramenta rotativa, ambos com interação não-ideal do elemento manipulado. É possível verificar comportamento caótico ao adicionar a carga aos manipuladores, trazendo assim, maiores desafios a proposta de controle. Na estratégia de controle são considerados como atuadores os motores CC (Corrente Contínua) e atuadores classificados como materiais inteligentes como a Liga de Memória de Forma (LMF), atuando nos elos flexí- veis, e freio Magneto-Reológico (MR-Brake), atuando nas juntas flexíveis. Utilizou-se da rede neural RBFNN para estimativa das variáveis de controle dos atuadores LMF e MR-Brake. O controle DSDRE (Discrete State De... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: Light-weight robotic manipulators have advantages over the cost of production and efficiency in relation to payload and weight of the robot. However, the use of light-weight materials tends to increase structural flexibility in torque transmission and in the links of the robot. The manipulator proposals presented in this work have conflicting requirements since it is desired to reduce the weight of the mechanisms and increase the performance, it makes some engineering challenges. Thus, this thesis deals with mechanical modeling, dynamic analysis and hybrid control, using intelligent actuators, for robotic manipulators with flexible characteristics. Two models of robotic manipulators with flexible characteristics will be considered in this work: one for payload connected to a cable and another one for rotary tool, both with non-ideal interaction of the manipulated element. It is possible to verify chaotic behavior by adding the load to the manipulators, becoming a great challenger to the proposal control. DC motors and actuators classified as intelligent materials such as the shape memory alloy (SMA), acting on the flexible links, and Magneto-Rheological Brake (MR-Brake), acting on the flexible joints, are used in the strategy control. The neural network RBF was used to estimate the control variables of the SMA and MR-Brake actuators. The DSDRE (Discrete State Dependent Ricatti Equation) control is used as the control law. The numerical results show that the addition of hybrid... (Complete abstract click electronic access below)
Doutor
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29

Lima, Jeferson José de. "Controle não linear de posição e vibração de manipuladores robóticos com juntas e elos flexíveis utilizando materiais inteligentes." Universidade Tecnológica Federal do Paraná, 2015. http://repositorio.utfpr.edu.br/jspui/handle/1/1577.

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CAPES; CNPq
Neste trabalho é apresentado a modelagem e controle de um manipulador robótico com características flexíveis tanto nas juntas como nos elos. A modelagem matemática é obtida através da formulação de Lagrange. Na estratégia de controle são considerados como atuadores os motores CC (Corrente Contínua) e atuadores classificados como materiais inteligentes como a Liga de Memória de Forma (LMF) e freio Magneto-Reológico (MR-Break). O controle SDRE (State Dependent Ricatti Equation) é utilizado como a lei de controle com base nas técnicas de controle ótimo para sistemas dinâmicos não lineares. Para demonstrar a eficiência e estabilidade do controle são apresentadas simulações numéricas considerando duas configurações distintas: a primeira demonstra o controle do manipulador robótico com dois elos rígidos, duas juntas flexíveis e utilizando controle de torque no elo do manipulador através de atuador MR. A segunda configuração trata do controle de um sistema com três elos, sendo um deles flexível, dois rígido e duas das juntas flexíveis, utilizam-se como atuadores os motores CC dos elos e um atuador LMF acoplado na viga flexível. Com o objetivo de validação o controle de posição através de motor CC e a influencia do eixo flexível na dinâmica do sistema um protótipo de manipulador com dois elos rígidos e duas juntas flexíveis foi confeccionado. Resultados numéricos e experimentais demonstraram a eficiência do controle de posicionamento dos elos através do controle SDRE e a influencia do eixo flexível na dinâmica do manipulador robótico.
This work presents the modeling and control of robotic manipulators with flexible characteristics, both joints as in the links. The mechanical model is obtained by Lagrangian formulation. Control strategy is considered as actuators DC motors (Direct Current) and actuators classified as smart materials such as shape memory alloy (SMA) and Magnetorheological brake (MR). The law of implemented control is based on optimal control techniques for dynamic systems, this control is given the name of SDRE control (State Dependent Ricatti Equation). To demonstrate the efficiency and control the stability of the numerical simulations are presented in three systems: the first demonstrates control of a robotic manipulator with two hard links, two flexible joints and adding torque control in the manipulator of the link through actuator MR. The second case concerns the control of a system with three links, one being flexible, rigid and two of two flexible joints, is used as actuators DC motors of the links and a coupled SMA actuator to the flexible beam. Aiming to validating the control position by DC motor and the influence of the flexible shaft in system dynamics a manipulator prototype with two rigid links and two flexible joints was made. Numerical and experimental results demonstrated the links positioning control efficiency through SDRE control and the influence of the flexible shaft in the dynamics of robotic manipulator.
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30

Angonin, Diane. "Lineage-specific manipulation of subventricular zone germinal activity for neonatal cortical repair." Thesis, Lyon, 2017. http://www.theses.fr/2017LYSE1175/document.

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L'hypoxie périnatale entraîne une dégénérescence et un délai de maturation des oligodendrocytes et des neurones corticaux du cortex cerebral. Mon projet de thèse a d'abord consisté à étudier la contribution des cellules souche neurales de la zone sous-ventriculaire dorsale (dSVZ) à la tentative de régénération spontanée observée après la lésion. Dans un second temps, j'ai étudié la capacité de ces cellules souches à être manipulée en utilisant une approche pharmacologique.Mes résultats mettent en évidence une réponse spontanée et dynamique de la dSVZ qui produit des neurones et des oligodendrocytes corticaux en réponse à l'hypoxie. L'administration par voie intranasale d'un inhibiteur de Gsk3b, qui active la voie Wnt/b-caténine, petite molécule identifiée à l'aide d'une étude bio-informatique comme « dorsalisante », juste après la période d'hypoxie, potentialise cette réponse spontanée. En effet, mes résultats montrent que certains neurones corticaux issus de la dSVZ survivent avec le traitement alors qu'aucun ne semblent persister après 1 mois suivant l'hypoxie. De plus, le traitement accélère la maturation des oligodendrocytes corticaux et augmentent leur production et intégration à long terme. Enfin, le traitement a un effet à long terme sur les cellules souches de la dSVZ en augmentant la proportion de ces cellules qui sont actives. Pour conclure, la dSVZ participe à la récupération corticale spontanée qui suit l'hypoxie périnatale et cette réponse peut être potentialisée par l'administration d'une petite molécule identifiée par notre analyse bio-informatique, un inhibiteur de GSK3b
Perinatal hypoxia leads to degeneration and delayed maturation of oligodendrocytes and cortical glutamatergic neurons. My PhD project consists in assessing the contribution of neural stem cells (NSCs) of the dorsal subventricular zone (dSVZ, i.e. the largest germinal zone of the postnatal brain) to the spontaneous regenerative attempt observed following such injury as well as its amenability to pharmacological manipulation.The results I have obtained highlight a dynamic and lineage-specific response of NSCs of the dSVZ to hypoxia that results in de novo oligodendrogenesis and cortical neurogenesis. Newborn cortical neurons express appropriate cortical layer markers, supporting their appropriate specification. A pharmacogenomics analysis allowed us to identify small molecules boosting specificly dSVZ NSCs. Pharmacological activation of Wnt/ß-catenin signalling by intranasal GSK3ß inhibitor administration during the recovery period following hypoxia indeed potentiates dorsal SVZ participation to post-hypoxia repair. Gsk3b inhibitor CHIR99021 seems to promote survival of cortical neurons from the dSVZ produced in response to hypoxia. More interestingly, CHIR99021 promotes oligodendrocyte maturation and long term integration in the cortex as well as a long term increased activity of dSVZ NSCs.Altogether, my results highlighted a dynamic and lineage-specific response of dorsal NSCs cells to hypoxia and identify the early postnatal dorsal SVZ as a malleable source of stem cells for cortical repair following trauma that occur early in life. CHIR99021 (a Gsk3b inhibitor) intranasal administration promotes this cortical cellular repair with a long term activation of dSVZ NSCs which increased their production of oligodendrocytes migrating to the cortex and a short term improvement of their maturation, and might allow the integration of cortical neurons they produce
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31

Machado, Renato Luiz. "Identificação e linearização por redes neurais de um manipulador robotico com acoplamento flexivel." [s.n.], 2000. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264133.

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Orientador: Euripedes Guilherme O. Nobrega
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
Made available in DSpace on 2018-08-12T02:13:39Z (GMT). No. of bitstreams: 1 Machado_RenatoLuiz_M.pdf: 4990812 bytes, checksum: 87d647902a37b6e9837eb832c5c4a752 (MD5) Previous issue date: 2000
Resumo: O objetivo deste trabalho é descrever o projeto de linearização por realimentação de manipuladores fazendo uso de redes neurais em uma configuração baseada em técnicas de controle adaptativo. O comportamento do robô projetado será estudado através de um sistema com junta flexível. O manipulador adotado é composto de três GDLs (graus de liberdade), sendo dois GDLs em corpos rígidos com um movimento de rotação e outro de translação, e uma junta flexível representada por uma correia dentada entre os dois eixos rotativos, introduzindo assim o terceiro GDL. Apresenta-se inicialmente o método de linearização dinâmica por realimentação (em inglês: feedback linearization). O enfoque proposto é a utilização de um mapeamento por redes neurais artificiais de múltiplas camadas para substituir os blocos de linearização e da planta. Este estudo abrange a possibilidade de se trabalhar com parâmetros desconhecidos, fazendo deste, um método que se adapta ao sistema
Abstract: The goal of this work is to present a plan of manipulators feedback linearization using neural networks based on adaptive control techniques. The behavior of designed robot will be studied through a system with flexible joint. This manipulator is composed by three DOF (degrees of freedom), with two DOF in rigid segments of rotation motion and translation motion, and one flexible joint moved for a "toothed belt" or "timing belt" between two rotary shaft, forming the third DOF. Initially it will be presented the dynamic feedback linearization method. Then artificial neural networks of multiple layers will be used in order to replace the blocks of linearization and planto This analysis inc1ude the possibility to work with unknown parameters, that can be considered as an adaptive method to the system
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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32

Oliveira, Éverton Lins de. "Modelagem e controle do manipulador de uma escavadeira hidráulica." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-12032018-102141/.

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Escavadeiras hidráulicas são máquinas versáteis, amplamente utilizadas na construção civil e mineração. Máquinas melhores, mais produtivas, eficientes e que oferecem segurança ao operador são uma demanda constante da indústria. Devido a estes fatores, o controle para a automação de uma escavadeira hidráulica tem sido investigado. Este estudo tem o seu foco voltado para o controle do manipulador do equipamento, que é considerado como um dos elementos fundamentais para o desenvolvimento de uma escavadeira automática. Para desenvolver um sistema de controle viável, primeiramente, foi realizado a modelagem matemática dos subsistemas mecânico e hidráulico do manipulador; posteriormente esses modelos foram acoplados para representar a interação dos subsistemas. Todos os modelos desenvolvidos foram comparados com modelos de referência, obtidos a partir de softwares comerciais dedicados a modelagem de sistema dinâmicos. Tendo sido verificado a capacidade de representação física dos modelos, a fase de projeto do controlador para o manipulador foi iniciada. Para que o controlador seja eficiente, este deve ter duas propriedades essenciais: robustez para lidar com as incertezas e distúrbios severos, e adaptabilidade para lidar com um ambiente de operação altamente dinâmico. A fim de projetar um controlador que considera a dinâmica de cada subsistema do manipulador, a técnica de controle em cascata foi adotada. Esta consiste em dividir o sistema global em subsistemas, de tal forma que seja possível projetar um controlador para cada subsistema. Devido à complexidade do modelo matemático, técnicas avançadas de controle linear e não linear foram combinadas no projeto dos controladores dos subsistemas. O controlador sintetizado foi testado através de simulação numérica, em ambiente MATLAB/Simulink®, na execução de um ciclo completo de trabalho pelo manipulador. Os resultados obtidos foram considerados satisfatórios, mesmo na presença de incertezas, distúrbios severos e de ruídos. Posteriormente, na comparação desses resultados com os de outros controladores, ficou claro que o melhor desempenho foi obtido com o controlador proposto. Isto indica a possível aplicabilidade de tal controlador para a automação deste tipo de equipamento.
Hydraulic excavators are versatile machines, widely used in civil construction and in mining. Better, more productive, and efficient machines that offer operator safety are a constant industry demand. Due to these factors, the control for the automation of a hydraulic excavator has been investigated. This study focuses on the control of the equipment\'s manipulator, which is considered as one of the fundamental elements for the development of an automatic excavator. To develop a viable control system, first, the mathematical modeling of the mechanical and hydraulic subsystems of the manip-ulator was carried out; later these models were coupled to represent the interaction between the subsystems. All the developed models were compared with reference models, obtained from a commercial software dedicated to dynamic system modeling. Having verified the physical representation capacity of the analytical models, the de-sign phase of the controller was started. For the controller to be efficient, it must have two essential properties: robustness to deal with severe uncertainties and disturb-ances, and adaptability to handle a highly dynamic operating environment. To design a controller that considers the dynamics of each subsystem of the manipulator, the cascade control technique was adopted. This consists of dividing the global system into subsystems, in such a way that it is possible to design a controller for each sub-system. Due to the complexity of the mathematical model, advanced linear and non-linear control techniques were combined in subsystem controllers design. The synthe-sized controller was tested by numerical simulation, in MATLAB/Simulink® environ-ment, in the execution of a complete work operation by the manipulator. The results obtained were considered satisfactory, even in the presence of uncertainties, severe disturbances and noise. Subsequently, in the comparison of these results with those of others controllers, it was clear that the best performance was obtained with the pro-posed controller. This indicates the possible applicability of such a controller to the automation of this type of equipment.
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33

John, Ajita. "Linearly Ordered Concurrent Data Structures on Hypercubes." Thesis, University of North Texas, 1992. https://digital.library.unt.edu/ark:/67531/metadc501197/.

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This thesis presents a simple method for the concurrent manipulation of linearly ordered data structures on hypercubes. The method is based on the existence of a pruned binomial search tree rooted at any arbitrary node of the binary hypercube. The tree spans any arbitrary sequence of n consecutive nodes containing the root, using a fan-out of at most [log₂ 𝑛] and a depth of [log₂ 𝑛] +1. Search trees spanning non-overlapping processor lists are formed using only local information, and can be used concurrently without contention problems. Thus, they can be used for performing broadcast and merge operations simultaneously on sets with non-uniform sizes. Extensions to generalized and faulty hypercubes and applications to image processing algorithms and for m-way search are discussed.
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34

Ferreyrol, Franck. "Manipulation de champs quantiques mésoscopiques." Phd thesis, Université Paris Sud - Paris XI, 2011. http://tel.archives-ouvertes.fr/tel-00585534.

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L'objectif de cette thèse concerne la manipulation à l'échelle quantique du champ électromagnétique dans le cadre de l'information quantique à variables continues. Pour ce faire nous mélangeons les outils de l'optique quantique à variables discrètes, où la lumière est décrite en termes de photons, avec l'approche continue, traitant des quadratures du champ. Cette technique permet de produire des états non-classiques décrits par des fonctions de Wigner prenant des valeurs négatives. Nous avons pu générer des états intriqués à partir d'impulsions lumineuses initialement indépendantes et pouvant être séparées par une longue distance, l'intrication s'effectuant au travers d'un canal acceptant de fortes pertes. Nous avons ensuite démontré et caractérisé expérimentalement un protocole non-déterministe permettant d'amplifier de faibles signaux sans en amplifier le bruit quantique, augmentant ainsi le rapport signal sur bruit. Puis nous avons mis en œuvre et comparé expérimentalement différentes mesures de non-gaussianité d'un état quantique : ce caractère propre à une description continue de la lumière est d'un intérêt capital pour l'information quantique. Enfin nous avons développé et testé deux améliorations pour notre dispositif. La première est un amplificateur femtoseconde pour notre laser impulsionnel, qui permettra d'obtenir de meilleurs états de départ pour nos expériences. La deuxième est un appareil capable de discriminer le nombre de photon, donnant ainsi des résultats plus précis que ceux des détecteurs dont nous disposons actuellement qui sont uniquement capable de détecter la présence de photons.
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35

Lee, Yoonsik. "Hybrid photonic systems consisting of dielectric photonic crystals and plasmonic meta-atoms for nanoscale light manipulation." 京都大学 (Kyoto University), 2014. http://hdl.handle.net/2433/188597.

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36

Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.

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Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation, du sol vers les airs. Cette thèse contribue au domaine de la manipulation aérienne en proposant un nouveau concept appelé MAGMaS, pour " Multiple Aerial Ground Manipulator System ". Les motivations qui ont conduites à l'association de manipulateurs terrestres et aériens pour effectuer des tâches de manipulation coopérative, résident dans une volonté d'exploiter leurs particularités respectives. Les manipulateurs terrestres apportant leur importante force et les manipulateurs aériens apportant leur vaste espace de travail. La première contribution de cette thèse présente une modélisation rigoureuse des MAGMaS. Les propriétés du système ainsi que ses possibles extensions sont discutées. Les méthodes de planning, d'estimation et de régulation nécessaire à l'exploitation des MAGMaS pour des tâches de manipulation collaborative sont dérivées. Ce travail propose d'exploiter les redondances des MAGMaS grâce à un algorithme optimal d'allocation de forces entre les manipulateurs. De plus, une méthode générale d'estimation de forces pour robots aériens est introduite. Toutes les techniques et les algorithmes présentés dans cette thèse sont intégrés dans une architecture globale, utilisée à la fois pour la simulation et la validation expérimentale. Cette architecture est en outre augmentée par l'addition d'une structure de télé-présence, afin de permettre l'opération à distances des MAGMaS. L'architecture générale est validée par une démonstration de levage de barre, qui est une application représentative des potentiels usages des MAGMaS. Une autre contribution relative au développement des MAGMaS consiste en une étude exploratoire de la flexibilité dans les objets manipulés par un MAGMaS. Un modèle du phénomène vibratoire est dérivé afin de mettre en exergue ses propriétés en termes de contrôle. La dernière contribution de cette thèse consiste en une étude exploratoire sur l'usage des actionneurs à raideur variable dans les robots aériens, dotant ces systèmes d'une compliance mécanique intrinsèque et de capacité de stockage d'énergie. Les fondements théoriques sont associés à la synthèse d'un contrôleur non-linéaire. L'approche proposée est validée par le biais d'expériences reposant sur l'intégration d'un actionneur à raideur variable léger sur un robot aérien
In recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being proposed. The aerial robotics community is currently observing a paradigm shift from classic guidance, navigation, and control tasks towards more unusual tasks, for example requesting aerial robots to physically interact with the environment, thus extending the manipulation task from the ground into the air. This thesis contributes to the field of aerial manipulation by proposing a novel concept known has Multiple Aerial-Ground Manipulator System or MAGMaS, including what appears to be the first experimental demonstration of a MAGMaS and opening a new route of research. The motivation behind associating ground and aerial robots for cooperative manipulation is to leverage their respective particularities, ground robots bring strength while aerial robots widen the workspace of the system. The first contribution of this work introduces a meticulous system model for MAGMaS. The system model's properties and potential extensions are discussed in this work. The planning, estimation and control methods which are necessary to exploit MAGMaS in a cooperative manipulation tasks are derived. This works proposes an optimal control allocation scheme to exploit the MAGMaS redundancies and a general model-based force estimation method is presented. All of the proposed techniques reported in this thesis are integrated in a global architecture used for simulations and experimental validation. This architecture is extended by the addition of a tele-presence framework to allow remote operations of MAGMaS. The global architecture is validated by robust demonstrations of bar lifting, an application that gives an outlook of the prospective use of the proposed concept of MAGMaS. Another contribution in the development of MAGMaS consists of an exploratory study on the flexibility of manipulated loads. A vibration model is derived and exploited to showcase vibration properties in terms of control. The last contribution of this thesis consists of an exploratory study on the use of elastic joints in aerial robots, endowing these systems with mechanical compliance and energy storage capabilities. Theoretical groundings are associated with a nonlinear controller synthesis. The proposed approach is validated by experimental work which relies on the integration of a lightweight variable stiffness actuator on an aerial robot
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37

Castillo, Casanova Percey. "Diseño e implementación de un sistema de control no lineal adoptivo multivariable aplicado a un manipulador robótico transnacional de 2DOF." Universidad Nacional de Ingeniería. Programa Cybertesis PERÚ, 2004. http://cybertesis.uni.edu.pe/uni/2004/castillo_cp/html/index-frames.html.

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La presente tesis trata sobre el control de posición y trayectoria de un manipulador robótico translacional multivariable de 2DOF (Two-Degrees-of-Freedoms), el cual consiste de un móvil montado sobre un par de rieles a lo largo del eje horizontal, y un brazo articulado a un servomotor fijo sobre el móvil. Este servomotor maneja el movimiento rotacional del brazo. El otro servomotor es articulado a una de las dos poleas. Estas poleas usa una faja para transmitir la fuerza para manejar el movimiento deslizante del móvil. Este manipulador robótico no lineal será controlado mediante un Sistema de Control Adaptivo por Modelo Referencial. El objetivo de control es controlar si¬multáneamente la posición translacional del móvil y la posición angular del brazo, el cual es libre de rotar en cualquier dirección. Los objetivos impuesto en esta tesis son: modelado, simulación e implementación en tiempo real del Sistemas de Control Adaptivo por Modelo de Referencia (MRACS: Model Reference Adaptive Control System). Un MRACS esta principalmente compuesta de cuatro partes: el modelo refe¬rencia!, el controlador adaptivo, el proceso a ser controlado, y el mecanismo de adaptación. El modelo referencial, el cual es excitado por una entrada externa r(t), es un sistema dinámico auxiliar usado para especificar las respuestas de¬seadas del proceso. Tales respuestas deben ser alcanzadas por el MRACS a pesar de las restricciones generadas por el modelo inexacto de la estructura del modelo referencial así como del modelo del proceso. La ley de adaptación es la relación entre el error e, el cual es la diferencia entre las salidas del modelo referencial y la de los procesos, y su correspondiente vector de parámetros estimados 0. El meca¬nismo de adaptación es un conjunto de bloques interconectados empleados para implementar la ley de adaptación. De hecho, la ley de adaptación es un algoritmo de control usado para modificar los parámetros del controlador adaptivo de tal manera que MRACS permanece estable y el error de seguimiento converja a cero en presencia de cambios en los parámetros del proceso y disturbios externos. Los resultados de simulación y experimental demuestran que el sistema MRACS diseñado, es capaz de hacer que las salidas controladas del proceso sigan trayec¬torias de referencia arbitrarias. El manipulador robótico translacional usado en este trabajo de tesis fue conce¬bido, diseñado y construido por un equipo de investigación en sistemas de control de la Escuela de Graduados de la Facultad de Ingeniería Eléctrica y Electrónica. Los miembros del equipo son el Profesor Arturo Rojas Moreno, y los estudiantes de postgrado Percey Castillo Casanova y Ricardo Rodríguez Bustinza
This thesis work deals with the position and trajectory control of a multivariable translational robotic manipulator of 2DOF (2-Degrees-of-Freedoms), which con-sists of a cart mounted on a pair of rails along the horizontal axes, and a link articulated to a servomotor fixed on the cart. Such a servomotor drives the rotary motion of the link. Another servomotor is articulated to one of two pulleys. This pulley uses a cable to transmit the forcé that drives the sliding motion of the cart. Such a nonlinear robotic manipulator will be controlled by means of a model reference adaptive control system. The control objective is to control simulta-neously the translational position of the cart and the angular position of the link, which is free of rotating in any direction. The goals imposed in this thesis are: modelling, simulation, and real-time implementation of the model reference adaptive control system (MRACS). A MRACS is mainly composed of four parts: the reference model, the adaptive controller, the process to be controlled, and the adaptation mechanism. The ref¬erence model, which is excited by an externa! input r(í), is an auxiliary dynamic system used to specify the desired process responses. Such responses should be chievable for the MRACS despite the restrictions generated by inaccurate mod-elling of the structure of both, the reference model and the procesa model. The adaptation law is the relation between the error e, which is the difference between the outputs of the reference model and those of the process, and the corresponding estimated parameter vector 9. The adaptation mechanism is a set of interconnect-ed blocks employed to implement the adaptation law. As a matter of fact, the adaptation law is the control algorithm used to modify the parameters of the adaptive controller such that the MRACS remains atable and the tracking error converges to zero in the presence of changing process parameters and externa! disturbances. Simulation and experimental results demonstrate that the designed MRACS is capable of making the controlled outputs of the process track arbitrary reference trajectories. The translational robotic manipulator used in this thesis work was conceived, designed and constructed by the research team for control systems of the Gradú¬ate School of the Faculty of Electrical and Electronic Engineering. The members of such a team are Professor Arturo Rojas Moreno, and gradúate students Percey Castillo Casanova and Ricardo Rodríguez Bustinza
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38

Rodríguez, Bustinza Ricardo Raúl. "Diseño e implementación de un sistema de control no lineal multivariable por modo deslizante aplicado a un manipulador robótico translacional de 2DOF." Universidad Nacional de Ingeniería. Programa Cybertesis PERÚ, 2003. http://cybertesis.uni.edu.pe/uni/2003/rodriguez_br/html/index-frames.html.

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39

Nguyen, Thi Van Anh. "Commande de robots manipulateurs basée sur le modèle de Takagi-Sugeno : nouvelle approche pour le suivi de trajectoire." Thesis, Valenciennes, Université Polytechnique Hauts-de-France, 2019. http://www.theses.fr/2019VALE0030/document.

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Ce travail présente une nouvelle approche de synthèse de la commande non linéaire en suivi de trajectoire de robots manipulateurs. Malgré la richesse de la littérature dans le domaine, le problème n'a pas encore été traité de manière adéquate : en raison de l'existence inévitable dans les applications pratiques de perturbations et incertitudes telles que les forces de frottement, des perturbations externes ou les variations des paramètres il est difficile d'assurer un suivi de trajectoire de haute précision. Afin de résoudre ce problème, nous proposons tout d'abord une méthode de commande prenant en compte la performance H∞ pour le suivi de trajectoire d'un robot manipulateur. Deuxièmement, nous proposons un nouveau cadre pour la synthèse de lois de commande combinant une action anticipatrice et un retour d'état basée sur une représentation sous forme Takagi-Sugeno descripteur de la dynamique du manipulateur. Un avantage de la représentation choisie est de pouvoir simultanément simplifier le calcul des gains de commande à l'aide de LMI de dimension réduite et de réduire la complexité du correcteur en agissant sur le nombre de règles du modèle de Takagi-Sugeno. Basé sur la théorie de la stabilité de Lyapunov, le réglage du correcteur est formulé comme un problème d'optimisation LMI (inégalité matricielle linéaire). Les résultats obtenus en simulation effectuée avec un modèle de manipulateur série développé dans l'environnement Simscape MultibodyTM de Matlab R démontrent clairement l'efficacité de la méthode proposée en comparaison avec le régulateur PID et la commande CTC (Computed Torque Control)
This work presents a new design approach for trajectory tracking control of robot manipulators. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective control design. In general, it is difficult to adopt design to achieve high-precision tracking control due to the uncertainties in practical applications, such as friction forces, external disturbances and parameter variations. In order to cope this problem, we propose first control with H∞ performance to reference trajectory tracking control of two degrees of freedom robot. Secondly, we propose a new design framework with parametric uncertainties and unknown disturbances by using the feedback and the feedforward controllers. Using the descriptor Takagi-Sugeno systems, the design goal is to achieve a guaranteed tracking performance while signicantly reducing the numerical complexity of the designed controller through a robust control scheme. Based on Lyapunov stability theory, the control design is formulated as an LMI (linear matrix inequality) optimization problem. Simulation results carried out with a high-fidelity serial manipulator model embedded in the Simscape MultibodyTM environment of MatlabR clearly demonstrate the effectiveness of the proposed method by comparing with PID controller and computed torque controller
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40

Slater, Thor. "The underwater propagation of high-power pulsed and continuous-wave visible lasers : non-linear effects and a solid-state beam manipulation tool for imaging applications." Thesis, Loughborough University, 2000. https://dspace.lboro.ac.uk/2134/34334.

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Underwater optics is a subject area with many applications from vision to remote sensing. Most have traditionally suffered from a limited range capability, despite advances in compact laser sources and beam steering technology. One reason for this is a lack of fundamental data concerning the propagation characteristics of high-power cw and pulsed beams through turbid media at the distances required. This project was designed to address that shortcoming by investigating two non-linear effects of high-power lasers underwater: thermal lensing and stimulated Raman scattering (SRS). A novel test facility was designed and attenuation measurements made at pathlengths up to 27m, using an array of mirrors, with argon ion (4.5W, 514.5nm) and Nd:YAG (140mJ, 532nm) lasers.
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41

Pazelli, Tatiana de Figueiredo Pereira Alves Taveira. "Controladores adaptativos não-lineares com critério H \'INFINITO\' aplicados a robôs espaciais." Universidade de São Paulo, 2006. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-26022007-152250/.

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Neste trabalho, o equacionamento dinâmico de um manipulador espacial de base livre flutuante é descrito a partir do conceito do manipulador dinamicamente equivalente para que as técnicas de controle desenvolvidas sejam experimentalmente validadas em um manipulador convencional de base fixa. Dois tipos de controle de movimento são considerados. O primeiro foi desenvolvido no espaço das juntas e realiza o comando direto de posicionamento das juntas do manipulador; o segundo foi desenvolvido no espaço inercial e o controle é direcionado para o posicionamento do efetuador no espaço Cartesiano. Nos dois casos, o problema de acompanhamento de trajetória de um manipulador espacial com base livre flutuante sujeito a incertezas na planta e perturbações externas é proposto e solucionado sob o ponto de vista do critério de desempenho H \'INFINITO\'. Considerando métodos de controle para sistemas subatuados, três técnicas adaptativas foram desenvolvidas a partir de um controlador H \'INFINITO\' não-linear baseado na teoria dos jogos. A primeira técnica foi proposta considerando a estrutura do modelo bem definida, porém calculada com base em parâmetros incertos. Uma lei adaptativa foi aplicada para estimar esses parâmetros utilizando parametrização linear. Redes neurais artificiais são aplicadas nas outras duas abordagens adaptativas. A primeira utiliza uma rede neural para aprender o comportamento dinâmico do sistema robótico, considerado totalmente desconhecido. Nenhum dado cinemático ou dinâmico da base é utilizado neste caso. A segunda abordagem considera a estrutura do modelo nominal do manipulador bem definida e a rede neural é aplicada para estimar o comportamento das incertezas paramétricas e da dinâmica não-modelada da base. O critério H \'INFINITO\' é aplicado nas três técnicas para atenuar o efeito dos erros de estimativa. Resultados experimentais foram obtidos com um robô manipulador de base fixa subatuado (UArmII) e apresentaram melhor desempenho no acompanhamento da trajetória e no consumo de energia para as abordagens baseadas em redes neurais.
In the present work, the dynamics of a free-floating space manipulator is described through the dynamically equivalent manipulator approach in order to obtain experimental results in a planar fixed base manipulator. Control in joint and Cartesian spaces are considered. The first acts directly on joints positioning; the second control scheme acts on positioning the end-effector in some inertially fixed position. In both cases, the problem of tracking control with a guaranteed H-infinity performance for free-floating manipulator systems with plant uncertainties and external disturbances is proposed and solved. Considering control methods for underactuated systems, three adaptive techniques were developed from a nonlinear H-infinity controller based on game theory. The first approach was proposed considering a well defined structure for the plant, however it was computed based on uncertain parameters. An adaptive law was applied to estimate these parameters using linear parametrization. Artificial neural networks were applied in the two other approaches. The first one uses a neural network to learn the dynamic behavior from the robotic system, which is considered totally unknown. No kinematics or dynamics data from the spacecraft are necessary in this case. The second approach considers the nominal model structure well defined and the neural network is applied to estimate the behavior of the parametric uncertainties and of the spacecraft non-modeled dynamics. The H-infinity criterion was applied to attenuate the effect of estimation errors in the three techniques. Experimental results were obtained with an underactuated fixed-base planar manipulator (UArmII) and presented better performance in tracking and energy consumption for the neural based approaches.
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42

Maraví, Pinto Ronald Divio. "Diseño e implementación de un sistema de control no lineal multivariable por realimentación de estado aplicado a un robot manipulador esféricode 2 grados de libertad." Universidad Nacional de Ingeniería. Programa Cybertesis PERÚ, 2004. http://cybertesis.uni.edu.pe/uni/2004/maravi_pr/html/index-frames.html.

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43

Brissinger, Damien. "Etude et manipulation de modes résonnants en champ proche optique." Phd thesis, Université de Bourgogne, 2010. http://tel.archives-ouvertes.fr/tel-00688008.

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Avec l'évolution rapide des techniques de nanofabrication et les besoins croissants d'intégration et d'utilisation à moindre cout énergétique, l'étude et la manipulation de résonances électromagnétiques d'objets de faibles dimensions représentent des enjeux cruciaux. Un des objectifs de ce travail de thèse a donc été d'approfondir nos connaissances de l'interaction entre le champ électromagnétique et la matière. Dans ce but la réalisation conjointe d'expériences en champ proche optique et le développement numérique de modèles associés nous ont permis d'étudier différentes résonances électromagnétiques basées sur l'interaction lumière-matière au sein d'objets de dimensions sub-micrométriques. Dans une première partie, ce manuscrit présente les phénomènes mis en jeu en microscopie champ proche optique et décrit le fonctionnement du microscope SNOM utilise. La seconde partie est dédiée à l'étude de l'interaction d'une sonde champ proche avec une nano-cavité Fabry-Perot en régime non-linéaire. Dans un premier temps, on présente l'étude des non-linéarités de nano-cavités en Silicium à grand facteur de qualité et faible volume modal, démontrant ainsi l'obtention d'un régime de fonctionnement bistable pour de très faibles puissances. Dans un deuxième temps, on démontre la modulation possible via la sonde champ proche de ce régime de bistabilité. Enfin, on étudie dans la troisième partie de ce manuscrit les résonances de films minces métalliques. L'étude complète des modes propres et de l'excitation optique de cette structure a permis de connaitre avec précision les modes résonants et les angles de Brewster du film mince. Cette étude a été prolongée expérimentalement par l'étude en champ proche optique des modes résonants de demi-films minces métalliques. Lors de ces deux études, les mesures expérimentales ont été systématiquement accompagnées par l'analyse théorique et le développement numérique de modèles que les expériences réalisées ont permis de valider et de discuter.
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44

Izuka, Jaime Hideo 1974. "Modelo e teste experimental para o controle de vibração de vigas longas deformadas." [s.n.], 2013. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264567.

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Orientador: Paulo Roberto Gardel Kurka
Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
Made available in DSpace on 2018-08-23T11:40:22Z (GMT). No. of bitstreams: 1 Izuka_JaimeHideo_D.pdf: 4550690 bytes, checksum: d283c500cecbc7a038784ba35f0f73df (MD5) Previous issue date: 2013
Resumo: A utilização de braços manipuladores flexíveis em veículos de exploração foi o motivador deste trabalho. Estas estruturas têm como vantagens a sua massa reduzida e a capacidade de suportar grandes deformações sem que o limite de elasticidade seja excedido. O controle das vibrações de sua extremidade livre é essencial para uma aplicação prática. Neste contexto, este trabalho tem como objetivo a determinação de um modelo dinâmico para uma estrutura longa e flexível, visando o seu controle de vibração. A estrutura considerada possui seção variável, semelhante a uma viga telescópica. Considera-se ainda que a estrutura esteja sujeita a uma grande deformação causada pelas ações de tendão de tração, peso próprio e cargas concentradas. O modelo dinâmico consiste na adaptação de uma malha de elementos finitos de baixa ordem à configuração da linha de deformação estática da viga. A vibração a ser controlada consiste das pequenas oscilações que ocorrem em torno da posição de equilíbrio da viga deformada. O modelo dinâmico encontrado para a estrutura é utilizado no projeto de um controlador de vibrações, ativado por forças exercidas no tendão de tração, responsável pela deformação estática da própria viga. Comparações com a literatura, bem como resultados experimentais comprovam a validade do modelo empregado para a caracterização do sistema. Simulações numéricas mostram o sucesso de uso do modelo no projeto de um controlador ativo de vibrações
Abstract: The use of flexible manipulator arms in exploration vehicles was the motivation of this work. The advantages of such structures are their light weight and the capability to withstand large displacements without exceeding their specified elastic limit. The control of vibrations of its free end is essential for a practical application. In this context, the objective of this study is to determine a dynamic model for a long and flexible structure, aiming its vibration control. The structure has a variable section, similar to a telescopic beam. Large deformation behavior of the structure is considered. Concentrated loads, self-weight of the structure and tendon traction are the loads applied to the structure. The model dynamics is described by a low order finite element mesh, which is adapted to the geometry defined by the static deformation of the beam. The vibrations to be controlled are the small oscillations about the equilibrium position of the deformed beam. The dynamic model found for the structure is applied to design an active vibration controller. The controller forces are applied though the tendon traction cables, which is also responsible for the static deformation of the beam itself. Comparison with literature as well as experimental results prove the validity of the model used to characterize the system. Numerical simulations show the success of using the model in the design of an active vibration controller
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
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45

Nogueira, Samuel Lourenço. "Controladores adaptativos não-lineares com critério H aplicados a manipuladores com restrições de força e posição." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-26022010-152411/.

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Neste trabalho é apresentado um estudo comparativo entre quatro controladores H não lineares aplicados a um manipulador robótico com restrições de força e posição. Para estudar o comportamento de cada controlador as seguintes estratégias foram adotadas: (1) o modelo nominal do robô é considerado conhecido e são utilizadas técnicas inteligentes para estimar incertezas paramétricas, dinâmicas não modeladas e distúrbios externos; (2) O modelo do sistema é considerado completamente desconhecido e as técnicas inteligentes são utilizadas para estimar o modelo completo. As técnicas inteligentes utilizadas são baseadas em redes neurais e lógica fuzzy. Resultados experimentais baseados em um manipulador planar de três juntas rotacionais são apresentados, sendo que as restrições de posicionamento e forças são referentes ao movimento sobre uma linha reta. Ainda neste projeto é desenvolvido um sensor para medição de forças e momentos em três eixos ortogonais, sendo este sensor o dispositivo utilizado para fornecer informações necessárias para o controle do manipulador robótico com restrições
In this work, we present a comparative study among four H nonlinear controllers applied to a manipulator subject to position and force constraints. In order to study the behavior of each controller the following strategies have been adopted: (1) the nominal model of the robot is considered known and intelligent techniques are used to estimate parametric uncertainties, nonmodeled dynamics and external disturbances; (2) the system model is considered completely unknown and intelligent techniques are used to estimate the complete model. The intelligent techniques considered are based on neural networks and fuzzy logic. Experimental results based on a planar manipulator with three rotational joints are presented where position and force constraints refer to a movement on a straight line. To perform these experiments we developed a sensor to measure forces and moments in three orthogonal axes
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46

Huard, Benoît. "Contribution à la modélisation non-linéaire et à la commande d'un actionneur robotique intégré pour la manipulation." Thesis, Poitiers, 2013. http://www.theses.fr/2013POIT2262/document.

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La réalisation de tâches de manipulation dextres requiert une complexité aussi bien dans la conception de préhenseur robotique que dans la synthèse de leurs lois de commande. Une optimisation de la mécatronique de ces systèmes permet de répondre aux contraintes d'intégration fonctionnelle en se passant de capteurs de force terminaux. L'utilisation de mécanismes réversibles rend alors possible la détermination du positionnement du système dans l'espace libre et la détection de son interaction avec les objets manipulés, grâce aux mesures proprioceptives inhérentes aux actionneurs électriques. L'objectif de cette thèse est de parvenir synthétiser, dans le contexte articulaire (un degré-de-liberté), une commande adaptée à la manipulation en tenant compte de ces particularités mécaniques. La méthode proposée est basée sur une commande robuste par rapport aux non-linéarités structurelles dues aux effets gravitationnels et aux frottements secs d'une part et par rapport aux rigidités variables des objets manipulés. L'approche choisie nécessite la connaissance précise de la configuration du système étudié à chaque instant. Une représentation dynamique de son comportement permet de synthétiser un capteur logiciel pour l'estimation des grandeurs indispensables à la commande. Ces différentes étapes sont validées par des essais expérimentaux pour justifier la démarche choisie menant à une commande adaptée à la manipulation d'objets
The realization of dexterous manipulation tasks requires a complexity in robotic hands design as well as in their control laws synthesis. A mecatronical optimization of these systems helps to answer for functional integration constraints by avoiding external force sensors. Back-drivable mechanics allows the free-space positioning determination of such system as far as the detection of its interaction with a manipulated object thanks to proprioceptives measures at electric actuator level. The objective of this thesis is to synthesize a control law adapted to object manipulation by taking into account these mechanical properties in a one degree-of-freedom case. The proposed method is based on a robust control according to structural non-linearities due to gravitational effects and dry frictions on the one hand and with regard to a variable rigidity of manipulated objects on the other hand. The chosen approach requires a precise knowledge of the system configuration at all time. A dynamic representation of its behavior enables a software sensor synthesis for the exteroceptives variables estimation in a control law application purpose. The different steps are experimentally validated in order to justify the chosen approach leading to object manipulation
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47

Li, Fei. "PHARMACOLOGICAL MANIPULATION OF PROTEIN KINASE C MODULATES THE GROWTH AND LINEAGE COMMITMENT OF ENRICHED HUMAN MYELOID PROGENITOR CELLS INDUCED BY HEMATOPOIETIC GROWTH FACTORS." VCU Scholars Compass, 1992. https://scholarscompass.vcu.edu/etd/5139.

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The activity of protein kinase C (PK-C) has been implicated in regulating the growth and differentiation of both normal and neoplastic hematopoietic cells. We have examined the effects of the PK-C activators, phorbol 12,13- dibutyrate, mezerein, and bryostatin 1, on the proliferation and lineage commitment of enriched CD34+ human myeloid progenitor cells stimulated by lL-3, GM-CSF, stem cell factor and the lL-3/GM-CSF hybrid cytokine plXY321. Coadministration of these PK-C activators with plateau concentrations of rlL-3 or rGM-CSF induced 100-150% increase in the number of day 14 CFU-GM.with a selective stimulation on neutrophil and macrophage lineages while inhibiting eosinophilic growth. plXY321 stimulated an equivalent number of CFU-GM, including a predominant eosinophilic component, when compared to the combination of saturating levels of GM-CSF and lL-3. Bryostatin 1, when coadministered with plXY321 (or with the combination of lL-3 and GM-CSF), selectively enhanced the growth of neutrophilic and monocytic lineages while inhibiting eosinophil development. The inhibition of eosinophil colonies by bryostatin 1 was not mimicked by the coadministration of rSCF, rG-CSF or rCSF-1 with plXY321. Furthermore, neutralizing antibodies to rG-CSF and rCSF-1 failed to block potentiation of neutrophil or macrophage colony formation stimulated by bryostatin 1 in conjunction with plXY321, suggesting that accessory cell effects are not solely responsible for this phenomenona. rSCF synergistically enhanced plXY321 induced colony formation by an average of 144% by selectively stimulating neutrophilic and eosinophilic growth. Coadministration of bryostatin 1 with rSCF and plXY321 further increased colony formation by an average of 81%. This combination selectively stimulated cells of the macrophage lineage, and inhibited eosinophil differentiation. However, bryostatin 1 inhibited erythroid (BFU-E) and erythroid/myeloid mixed (CFU-GEMM) colonies induced by plXY321 alone or in combination with rSCF. Together these results indicate that 1) PK-C activity is involved in the growth and lineage commitment of early and committed myeloid progenitor cells. 2) Pharmacologic manipulation of PK-C may regulate the growth and differentiation of those cells exposed to early hematopoietic growth factors. This study raises the possibility that pharmacologic intervention at PK-C,in conjunction with hematopoietic growth factors, might be useful in the ex vivo expansion of hematopoietic progenitor cells.
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48

Coello, Yves, and Marcus Dantus. "Pulsos láser de femtosegundo en espectroscopía y microscopía de dos fotones." Revista de Química, 2012. http://repositorio.pucp.edu.pe/index/handle/123456789/100406.

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Se describe la aplicación de pulsos láser ultracortos (≤10fs) en espectroscopía y microscopía de dos fotones llevada a cabo en nuestro grupo de investigación, subrayando las ventajas y requerimientos de este enfoque. Además se presenta una breve descripción de la manipulación de pulsos, de las distorsiones de fase experimentadas por los pulsos láser de femtosegundo y de cómo corregir tales distorsiones utilizando manipuladores de pulsos.
Femtosecond laser pulses in two-photon spectroscopy and microscopy: The application of shaped ultrashort laser pulses (≤10fs) in two-photon spectroscopy and microscopy carried out in our group is  described, highlighting the advantages and requirements of this approach. In addition, a brief description of pulse shaping, phase distortions experienced by femtosecond laser  pulses and how to correct these distortions using a pulse shaper is also presented.
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49

Novák, Aleš. "Návrh konstrukce zakladače k bezhroté brusce Jupiter 125." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2008. http://www.nusl.cz/ntk/nusl-228223.

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Thesis deal with proposal construction Chalder for centreless grinding machine Jupiter 125. Chalder is designed for workpiece with maximum average 12 mm, maximum longitude 120 mm and mass 0,1 kg. In the thesis are described components that were used at solving and intended time exchanges workpiece, the economics estimation and processed needed design documentation.
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50

Tatíček, Vojtěch. "Konstrukce transportního vozíku s robotem nebo nosičem palet." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-400969.

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The aim of this work was to design the construction of transport equipment under industrial robot, pallet holder or other equipment. This manipulation device can be moved in one axis on a rigid guide. The device is designed for use in a linear manufacturing system for handling workpieces and tools. It is capable of operating two rows of machines when it is placed in the middle. The main function of this device is to extend the workspace to the carried devices. This type of construction can be used in combination with an industrial robot for other technological tasks such as welding or light machining. The main parts of this device include statically mounted beds that can be stacked behind each other to form optionally long conveyor paths and a positioning plate that moves along the path formed by these beds. An industrial robot, pallet holder or other device is attached to this positioning plate. In addition to the design itself, the thesis also includes a thorough research of the issue, further possibilities of solution in the form of concepts, verification of the structure by means of calculations and simulations and implementation of the solution into a specific production cell.
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