Simulação do controle de um manipulador robótico: uma abordagem via controle otimo em um problema de setpoint

Abstract

This paper reports the study of several concepts of robotics applied to a manipulator of two degrees of freedom and also the optimal control theory used to design a linear quadratic regulator within a setpoint problem. The control actuator used was a state space model of a DC motor. The dynamic responses of two of these motors, coupled to a robotic arm, were simulated for different positions and trajectories. The simulation took place in MATLAB® software using Simulink tool for modeling the system. In order to compare with other controllers, a PID controller has been implemented to the robotic arm’s motors, then simulations have been made for both controllers with the same setpoint. It was observed that the PID gain values were very high, resulting in a very fast system response, however in a very high performance index value. The linear quadratic controller obtains advantages at this point, because it allows a cos !evaluation, resulting in lower performance indexes.