Controle de força de uma junta robótica

Abstract

The present work presents an objective approach to the control of force in a joint of a robotic manipulator. The good performance of a force controller for the manipulator represents a bene ficial feature for manipulators operating in an unstructured environment, due to the fact that most manipulators present only position controllers. For this purpose, the impedance control method was used to implement the force control. This work will study the behavior of a joint exclusively where dynamics modeling will allow the numerical simulation with the purpose of improving the technique, minimizing the errors before the experimental implementation. Additionally, an experimental study on force sensors that can be used in future experimental applications for the control of force of manipulators with flexible links.