Modelagem e simulação de um robô com 6 graus de liberdade utilizando Matlab® E Simulink®

Abstract

This project is about the modeling and study of a manipulator robot of six degrees of freedom with rotary joints, where three joints are for positioning and three for guidance. Therefore, the objective was to apply and realize the analysis of existent techniques for the obtainment of the direct and inverse cinematics, and the description of the same dynamics. With the backing of the software Matlab®, was possible to compute the equations and realize the virtual representation of the manipulator, at first built utilizing the software SolidWorks® , and afterwards, was developed the interaction between both of them utilizing the toolbox SimMechanics™. The results obtained were shown in graphics and simulations, obtaining a good correspondence between the obtained results and the expected ones.