dc.contributorMolina, Fabian Andres Lara
dc.contributorKoroish, Edson Hideki
dc.contributorMolina, Fabian Andres Lara
dc.contributorKoroish, Edson Hideki
dc.contributorSilva, Luiz Marcelo Chiesse da
dc.contributorMontezuma, Marcio Aurelio Furtado
dc.creatorVidal, Tayane Soares
dc.date.accessioned5000-01-01
dc.date.accessioned2022-02-23T01:20:19Z
dc.date.accessioned2022-12-06T14:11:20Z
dc.date.available5000-01-01
dc.date.available2022-02-23T01:20:19Z
dc.date.available2022-12-06T14:11:20Z
dc.date.created5000-01-01
dc.date.created2022-02-23T01:20:19Z
dc.date.issued2018-11-13
dc.identifierVIDAL, Tayane Soares. Controle de força de uma junta robótica. 2018. Trabalho de Conclusão de Curso (Bacharelado em Controle e Automação) - Universidade Tecnológica Federal do Paraná, Cornélio Procópio, 2018.
dc.identifierhttp://repositorio.utfpr.edu.br/jspui/handle/1/27424
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/5243094
dc.description.abstractThe 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.
dc.publisherUniversidade Tecnológica Federal do Paraná
dc.publisherCornelio Procopio
dc.publisherBrasil
dc.publisherEngenharia de Controle e Automação
dc.publisherUTFPR
dc.rightsembargoedAccess
dc.subjectManipuladores (Mecanismo)
dc.subjectRobótica
dc.subjectImpedância (Eletricidade)
dc.subjectManipulators (Mechanism)
dc.subjectRobotics
dc.subjectImpedance (Electricity)
dc.titleControle de força de uma junta robótica
dc.typebachelorThesis


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