Percorrer por autor "Dumur, D."
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- Analysis of fractional - order robot axis dynamicsPublication . Rosario, J. M.; Dumur, D.; Tenreiro Machado, J. A.Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. 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 subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics
- Control of a 6-DOF parallel manipulator through a mechatronic approachPublication . Rosário, João Maurício; Dumur, D.; Machado, J. A. TenreiroThis paper shows that a hierarchical architecture, distributing several control actions in growing levels of complexity and using resources of reconfigurable computing, enables one to take into account the ease of future modifications, updates and improvements in robotic applications. An experimental example of a Stewart—Gough platform control (a platform applied as the solution to countless practical problems) is presented using reconfigurable computing. The software and hardware developed are structured in independent blocks. This open architecture implementation allows easy expansion of the system and better adaptation of the platform to its related tasks.
- A Mechatronic Approach to Control of 6 DOF Parallel ManipulatorPublication . Rosario, J. M.; Dumur, D.; Tenreiro Machado, J. A.This paper presents a practical implementation, using reconfigurable computing applied to robotic problems. Through the proposal a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing is possible to take into account the easiness of future modifications, updates and improvements in the robotic applications. A practical example is presenting using reconfigurable computing, of Stewart- Gough platform control, where the developed software and hardware are structured in independent blocks, through open architecture implementation, allowing the easy expansion of the system, better adapting the platform to the tasks associated to it. This open architecture implementation allows an easy expansion of the system and a better adaptation of the platform to its related tasks.