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Research
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Reliability of Robotic Manipulators: Analysis and Optimization
Reliability of Robotic Manipulators: Analysis and Optimization
Novel methods are proposed to assess the kinematic reliability of robotic manipulators based on probabilistic theory and fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance.
Original findings:
Dynamics and Control of Flexible-link Manipulators
Dynamics and Control of Flexible-link Manipulators
The links and elements of flexible manipulators are affected by uncertainties. The main sources of uncertainties include the variation of mechanical properties. Novel approaches are carried out regarding modeling, optimal design, and control.
Original findings:
Path-Planning and Deep Reinforcement Learning
Path-Planning and Deep Reinforcement Learning
Path-planning or robotic manipulator in an unstructured environment:
Robotic Vision
Deep Reinforcement Learning
Ongoing project.
Concluded Research Projects
Concluded Research Projects
Robotic manipulators subject to uncertainties (2019-2022), Chamada MCTIC/CNPq Nº 28/2018 - Universal/Faixa A - National Council For Scientific and Technological Development (CNPq), Brazil
Uncertainty analysis of flexible rotors by using Fuzzy Theory (2013-2014), Post-Doctoral Scholarship, Minas Gerais Research Foundation (FAPEMIG), Brazil
Predictive control of parallel robots (2009-2012), Doctoral Scholarship, São Paulo Research Foundation (FAPESP), Brazil.
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