masterThesis
Controlador desacoplado para manipulador robótico articulado com três graus de liberdade
Fecha
2020-12-23Registro en:
LOPES, Igor Cabral Machado. Controlador desacoplado para manipulador robótico articulado com três graus de liberdade. 2020. 74f. Dissertação (Mestrado em Engenharia Mecatrônica) - Centro de Tecnologia, Universidade Federal do Rio Grande do Norte, Natal, 2020.
Autor
Lopes, Igor Cabral Machado
Resumen
This work proposes a control technique applied to an articulated robotic manipulator,
classified in the literature as anthropomorphic (RRR), which is formed by three rotary
joints, three degrees of freedom, and spatial movement. Articulated manipulators (RRR)
have a great freedom of movement inside their workspace and are a type of manipulator
widely used. Two control strategies will be implemented, the first is the variable structure
model reference adaptive control, and the second one is a linear proportional derivative
controller. Both controllers proposed will use an inversion technique to decouple the
dynamic of each joint of the RRR manipulator, resulting in an independent controller for
each joint. In the end, simulated results will be presented, and some analyzes about them
will be made.