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Fernanda Thaís Colombo

Universidade de São Paulo

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Maíra Martins da Silva

Universidade de São Paulo

João Vitor de Carvalho Fontes

Universidade Federal de São Carlos

André Segura

Université de Toulon

Cecilia Cavaterra

University of Milan

B. Ripamonti

Centre Hospitalier Universitaire de Saint-Étienne

Gustavo Corrêa de Oliveira

Universidade de São Paulo

Leopoldo Pisanelli Rodrigues de Oliveira

Universidade de São Paulo

C.A. Cantoni

B. Mantecca

Letícia Merline Marossi

Ceres

Cooperative Institutions

Universidade de São Paulo

Universidade Federal de São Carlos

University of Milan

Universidade Brasil

Université de Toulon

Institut des Mondes Africains

Istituto di Matematica Applicata e Tecnologie Informatiche

Politecnico di Milano

Centre Hospitalier Universitaire de Saint-Étienne

Instituto de Ciências Farmacêuticas

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Confronto fra i metodi di prelievo mediante tampone e mediante sponge nella valutazione dello stato igienico delle superfici di lavorazione nel settore carni

B. Ripamonti Letícia Merline Marossi C.A. Cantoni Fernanda Thaís Colombo B. Mantecca

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Contributing to the Implementation of a Vision-Based Control Strategy for a Planar Parallel Manipulator

Fernanda Thaís Colombo João Vitor de Carvalho Fontes Maíra Martins da Silva

Manipulator (device)

10.26678/abcm.cobem2017.cob17-0822

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Controle no espaço da tarefa de manipuladores paralelos

Fernanda Thaís Colombo Maíra Martins da Silva

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MODELAGEM DE UM MANIPULADOR PARALELO 3RRR PARA INCLUSÃO DE ELOS FLEXÍVEIS

André Segura Fernanda Thaís Colombo Maíra Martins da Silva

FLEX

10.22533/at.ed.5902121071

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A Visual Servoing Strategy Under Limited Frame Rates for Planar Parallel Kinematic Machines

Journal of Intelligent & Robotic Systems (2019)

Fernanda Thaís Colombo João Vitor de Carvalho Fontes Maíra Martins da Silva

Visual Servoing

10.1007/s10846-019-00982-7

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Hybrid vision/strain-based control strategy for a parallel manipulator with flexible links

Mechanism and Machine Theory (2023)

Maíra Martins da Silva Fernanda Thaís Colombo Gustavo Corrêa de Oliveira Leopoldo Pisanelli Rodrigues de Oliveira

Overshoot (microwave communication)

Position (finance)

Servomechanism

10.1016/j.mechmachtheory.2023.105508

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Towards a Servovision Based Control for a Planar Parallel Manipulator

Mechanisms and machine science (2017)

Fernanda Thaís Colombo Maíra Martins da Silva

Robot end effector

Serial manipulator

10.1007/978-3-319-67567-1_23

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Torque calculado no espaço da tarefa em manipuladores paralelos planos utilizando servovisão

Fernanda Thaís Colombo

Além disso, a estratégia de controle estudada é baseada no Torque Calculado no

10.11606/d.18.2018.tde-14052024-083033

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Identifying a heat source in automatic control problems

Cecilia Cavaterra Fernanda Thaís Colombo

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A comparison between gain-scheduling linear quadratic regulator and model predictive control for a manipulator with flexible components

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering (2022)

Fernanda Thaís Colombo Maíra Martins da Silva

Dynamic performance and energy efficiency can be improved by reducing the inertia of mechanical systems. However, the components of such a system may be flexible and, inevitably, subject to vibrations. Moreover, the relative motion between flexible components leads to time-varying boundary conditions characterizing configuration-dependent dynamics. Since robust controllers may be conservative for this problem, adaptive controllers should be considered since they can cope with performance design requirements. In this work, we present a comparison between a linear quadratic regulator gain-scheduling control and an adaptive model predictive control for a flexible industrial Cartesian manipulator with configuration-dependent dynamics. This study takes the system stability and the use of bounded actuation into account. Numerical results demonstrate that the adaptive model predictive control strategy achieved better performance than the linear quadratic regulator gain scheduled. Also, in applications with tighter actuation bounds, the difference between the performance of both approaches is even higher, reinforcing the model predictive control capability of dealing with limited actuation.

Model Predictive Control

Gain scheduling

10.1177/09596518221087805

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Citations (3)