Identificação de trajetória com mínimos quadrados de um manipulador robótico acionado com motor de indução trifásico

Abstract

hree-phase induction motors are very important in the automotive industry, justifying the importation of the manipulator identification. The use of the problems that occur during the use of manipulators in the day-day is a construction of its generated by the operation. Identification methods consist of determining the audio and video system model of input and output signals. With a single and justification to use the identification methods with the intention of obtaining models according to plant. The manipulator used is cylindrical, where two degrees of freedom are being loaded. This work has a systems identification applied to a robotic manipulator with three-phase induction motor. We already use the scheduling schemes and the average cannot be recursive, they are formed in an analogous way to the calculation of term and the computational cost. The results obtained are positive.