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Doctoral Thesis
DOI
10.11606/T.18.2007.tde-13062008-093112
Document
Author
Full name
André Ribeiro Lins de Albuquerque
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2007
Supervisor
Committee
Caurin, Glauco Augusto de Paula (President)
Barros, Ettore Apolonio de
Pereira, Guilherme Augusto Silva
Rodrigues, Evandro Luís Linhari
Siqueira, Adriano Almeida Gonçalves
Title in Portuguese
Aplicações de hardware-in-the-loop no desenvolvimento de uma mão robótica
Keywords in Portuguese
Controle multivariável
Hardware-in-the-loop
Mãos artificiais
Produtos mecatrônicos - desenvolvimento
Robótica
Abstract in Portuguese
o trabalho tem como objetivo o estudo e a aplicação da técnica de hardware-in-the-loop como uma ferramenta de suporte no processo de desenvolvimento de uma mão artificial robótica. Os esforços se concentram no desenvolvimento de um ambiente computacional e um ambiente experimental para trabalharem em conjunto e simultaneamente. No ambiente computacional foi desenvolvido o modelo do sistema simulado em tempo real. No ambiente experimental, partes do protótipo da mão robótica foram implementadas. Em ambos os casos, foram desenvolvidos e empregados um controlador seguidor multivariável. Adotando este tipo de abordagem, partes do sistema simulado em tempo real poderão ser substituídas - à medida de suas necessidades - por partes físicas, como por exemplo: sensores, atuadores e novos hardwares de controle, possibilitando uma considerável redução de investimento em hardware e de tempo de projeto.
Title in English
Hardware-in-the-Ioop applications in the robotic hand development
Keywords in English
Artificial hand
Hardware-in-the-loop
Mechatronic products
Multivariable controller
Robotic
Abstract in English
The purpose of this work is the study and the application of the hardware-in-the-loop technique as a support tool in the development process of an artificial robotic hand. The efforts concentrate on the development of a computational and experimental environment to work together and simultaneously. In the computational environment, the simulated system model was developed in real-time. In the experimental environment, prototype parts of the robotic hand were implemented. In both cases, a multivariable controIler was developed and utilized. By adopting this approach, parts of the system simulated in real time can be substituted - according to the needs - by physical parts, such as: sensors, actuators, and new control hardware, allowing a considerable investment reduction in hardware and in time of project.
 
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Publishing Date
2008-06-16
 
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