Please use this identifier to cite or link to this item: http://repositorio.unicamp.br/jspui/handle/REPOSIP/102986
Type: Artigo de evento
Title: An Integrated Environment For The Modeling And Simulation Of Mechatronics Devices
Author: Rosario J.M.
Dumur D.
Abstract: One of the most common sources of performance limitation in the control of mechatronic systems is associated to the coupling dynamics of the different degrees of freedom, induced by the elasticity in some components. Indeed, in industrial environments, they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations. The design of the control system should guarantee a damped behavior of the load position, both in the set point response and in the rejection of the disturbances arising from the joints operation. This paper presents an application of Generalized Predictive Control (GPC) to a robot trajectory control using an Integrated Virtual Environment for the modeling and simulation of mechatronics devices. © 2006 IEEE.
Editor: 
Rights: fechado
Identifier DOI: 10.1109/AMC.2006.1631634
Address: http://www.scopus.com/inward/record.url?eid=2-s2.0-33751039531&partnerID=40&md5=dbf9a376d2c9d06a9bc8e724dde4b593
Date Issue: 2006
Appears in Collections:Unicamp - Artigos e Outros Documentos

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