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Doctoral Thesis
DOI
10.11606/T.3.2013.tde-19092014-113652
Document
Author
Full name
Rynaldo Zanotele Hemerly de Almeida
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2013
Supervisor
Committee
Coelho, Tarcisio Antonio Hess (President)
Carvalho, João Carlos Mendes
Fleury, Agenor de Toledo
Martins, Daniel
Tannuri, Eduardo Aoun
Title in Portuguese
Modelagem dinâmica e controle de robô manipulador de arquitetura paralela assimétrica de três graus de liberdade.
Keywords in Portuguese
Controle não linear
Modelagem dinâmica
Robôs
Abstract in Portuguese
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.
Title in English
Dynamic modeling and control of an asymmetric parallel manipulator robot of three degrees of freedom.
Keywords in English
Control nonlinear
Dynamic modeling
Robots
Abstract in English
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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Publishing Date
2014-09-22
 
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