Modelagem e controle robô manipulador de arquitetura paralela

Abstract

In this work the direct and inverse kinematic models are developed for a robot manipulator based on a 5-bar mechanism with two degrees of freedom, as well as the full dynamic model and the reduced dynamic model through the use of the holonomic constraints characteristic of the spatial configuration of the dynamic system. For this development, all the necessary fundamentals for the understanding and validation of the work are explained, as the methods of spatial description of the mechanisms and the mechanics of Lagrange. Using these models, the control system based on Proportional, Integral and Derivative controllers (PID) was designed through mathematical methods and simulations, testing it in a real control system applied to the real robotic mechanism used as the basis for the project. The results illustrate the robustness of the designed controller, as well as its applicability in the industrial sector through the appropriate adaptations. In addition, the results obtained also generate motivation for a series of works to be developed, in the future.