Typescript (Photocopy) / Includes paper co-authored by the author as attachment / Bibliography: leaves 133-140 / vii, 140, [12] leaves : ill ; 30 cm. / Title page, contents and abstract only. The complete thesis in print form is available from the University Library. / Thesis (Ph.D.)--University of Adelaide, Dept. of Applied Mathematics, 1988

Thesis (Ph. D.)--Georgia Institute of Technology, 1989. / Shipping list no.: 90-0587-M. "April, 1989." "NASA grant NAG1-623"--P. [iii]. Includes bibliographical references (p. 162-166). Also available via Internet from the NASA Technical Report Server web site. Address as of 4/26/06: http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19900004467%5F1990004467.pdf; current access available via PURL.

Thesis (Ph.D.(Mechanical Engineering))--University of Pretoria, 2003. / Summaries in Afrikaans and English. Includes bibliographical references.

Thesis (M.Eng.(Mechanical Engineering))--University of Pretoria, 1999. / Summaries in Afrikaans and English. Includes bibliographical references.

Thesis (M. Eng.)--Carleton University, 1994. / Also available in electronic format on the Internet.

Thesis (M.S.)--Mississippi State University. Department of Electrical and Computer Engineering. / Title from title screen. Includes bibliographical references.

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.

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

D.Ing. / A simulation system of an industrial robot, within a manufacturing environment for its intelligent interaction within the cell as well as its control via the Internet is presented. The simulation verification in an experimental cell in which an ABB lRB 2400 robot operates is discussed. Sensors employed throughout the cell to supply the input for robot action through an expert system are described. The robot interacts with several task groups of the cell, production equipment, materials handling and assembly. The cell use of a PC, directly linked to the robot and other equipment and sensors for, cell control is explained. The PC has full on-line control of all equipment while the simulation runs simultaneously with the experimental set-up. The system incorporates robot and cell control via the Internet. To add additional intelligence to the cell a transponder system, tagging each part in the robotic cell, is also implemented. This enables each part to be identified by the robot, as well as for the robot to interact with each transponder.

Thesis: M.S., Massachusetts Institute of Technology, Department of Mechanical Engineering, 1976 / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING. At head of title: T-624. / Includes bibliographical references. / by Sergio N. Simunovic S. / M.S. / M.S. Massachusetts Institute of Technology, Department of Mechanical Engineering