Título: Equações De Movimento À Ré De Robôs Móveis Multiarticulados, No Espaço De Configurações E No Espaço De Tarefas Com Tração Dianteira Ou Traseira E Ligações On-Axle Ou Off-Axle – Controle Feedforward
Autores: Ferreira, Edson P.; Bertolani, Diego N.; Pandolfi, Filipe
Resumo: This article presents new and general models to provide support for the development of predictors, simulators, controllers and navigation strategies, describing and performing backward movements of multi-articulated mobile robots (MAMR), in the configuration or task spaces, considering all the geometric restrictions. A predictor can be build by analytical models or by fuzzy or neural approximations. They are necessary for robot’s assisted tasks and useful to be used as cores in simulators to synthesize and validate strategies for control or navigation. The control synthesis can be done by many different nonlinear strategies, including neural and fuzzy ones, but even the neural and fuzzy approaches use training data set composed by real data and by data generated from singular condition models. This article presents original models for the singularities and for the critical angles, which implements the geometric angular restrictions. The model for critical angles may be used to define the range work for a supervisory level, where the task’s trajectories are defined. These models were deduced from general movement equations of a generic MAMR, with any degrees of freedom, with front and rear traction on the truck and with on-axle or off-axle hitching, that are also geometric restrictions. We present also the characterization of the critical configurations, combining critical angles, singular conditions and simulation or prediction. The prediction of the critical configurations in a supervisory level can provide great economy in performing maneuvers. This article presents also the use of singular models to implement control solutions: a fuzzy and a new nonlinear feedforward one. They are compared in a real application for a truck-trailer-trailer prototype.
Palavras-chave: Robotics; Multi-articulated Robots; Mobile Robots; Models; Feedforward Nonlinear Control; Fuzzy Control
Código DOI: 10.21528/CBIC2011-22.6
Artigo em pdf: st_22.6.pdf
Arquivo BibTex: st_22.6.bib