Controlador fuzzy takagi-sugeno aplicado a um manipulador com juntas flexíveis

• Main Author: Takano, Karina Assolari
• Publication Date: 2016
• Format: Master thesis
• Language: por
• Source: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Download full: http://repositorio.utfpr.edu.br/jspui/handle/1/3503
• topic: Manipuladores (Mecanismo); Controladores programáveis; Engenharia mecânica; Manipulators (Mechanism); Programmable controllers; Mechanical engineering; CNPQ::ENGENHARIAS; Engenharia Mecânica

This work studies the control of robotic manipulators with flexibility, specifically, the control of a planar serial manipulator with two degrees of freedom and flexibility in the joints. The main objective of this study is to design a regulation control using Parallel Distributed Compensation and Takagi-Sugeno fuzzy model, to approximate the nonlinearities of the system. The objective of the regulation control law is to provide damping to the manipulator to attenuate the vibrations in a specific configuration. The dynamic model of the manipulator studied is obtained using Lagrange-Euler principles. The regulation control performance is valued by computer simulations that prove the effectiveness of the proposed controller.