Numerical and experimental study of a two degrees of freedom electrohydraulic manipulatorThesis presented to the Programa de Pós-Graduação em Engenharia Mecânica of the Departamento de Engenharia Mecânica, PUC-Rio as a partial fulfillment of the requirements for the degree of Doutor.
Prof. Hans Ingo WeberAdvisor Departamento de Engenharia Mecânica -PUC-Rio To Romulo Reis Aguiar for your attendance on the day of the defense and for your review of this Thesis.
Prof. Marco Antonio Meggiolaro Departamento de Engenharia Mecânica -PUC-Rio
Prof. Roberta de Queiroz LimaTo my parents for the education, love and support.To Aline and Henry for the love and patience.To Timo Wekerle for your help with the references and for your review.To all the professors and staff of the Department for the teachings and the help.To all the friends and family that in one way or another stimulated or helped me.I thank PUC-Rio and CNPq for the aid granted, without which this work could not have been carried out. as características do sistema de atuação, mesmo este simples controlador é preciso e confiável. Em seguida é demonstrado um método para avaliar outras estratégias de controle. A comparação entre a plataforma cardânica e homocinética mostra que, nas condições analisadas, ambas têm um comportamento dinâmico similar.Nas duas configurações da plataforma o sistema se mostrou preciso e confiável.
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