Simulação e controle de um manipulador robótico

Abstract

This work brings with it the main concepts, orientations and rules for developing a mathematical model of a robotic manipulator for simulation on any computational package. This requires a theoretical foundation of the main concepts involving representations of variables in three-dimensional space as well as of frame transformations. Having this framework, the study of motion applies the concepts of inverse kinematics, taking into account the geometry of the robot, enabling cartesian coordinate points to be obtained in terms of the manipulator's joint variables. Using a linear Proportional Derivative (PD) controller, the simulated experiment is based on trajectory tracking for a 2 Degree of Freedom (DOF) robotic manipulator. For this, situations that significantly affect the robot performance in a real experiment are incorporated. There are several considerations about designing in a computational environment, simplifying the equations so that the application becomes viable. Finally, the results and discussions are presented.