COBEM99

S22 Mecatrônica

Title:

NUMERICAL ALGORITHMS FOR THE SOLUTION OF KINEMATIC PROBLEM AND DYNAMICAL CONTROL OF MANIPULATOR

Summary :

AN INDUSTRIAL ROBOT MAY BE MODELED BY A SERIES OF LINKS INTERCONNECTED BY EITHER ROTARY OR SLIDING JOINTS DRIVEN BY ACTUATORS. FROM A GIVEN ANGULAR CONFIGURATION AND THE GEOMETRIC MANIPULATOR PARAMETERS, IT IS POSSIBLE TO KNOW THE POSITION AND ORIENTATION OF ITS END EFFECTOR WITH RESPECT TO A COORDINATE SYSTEM FIXED IN THE BASE OF THE MANIPULATOR (THE KINEMATIC MODEL IS EXPRESSED IN CARTESIAN COORDINATES). INDUSTRIAL APPLICATIONS DEMAND THE ROBOT TO OPERATE IN ACCORDANCE TO THE POSITION AND ORIENTATION OF ITS END EFFECTOR AND IT IS NECESSARY TO SOLVE THE KINEMATIC INVERSE PROBLEM TO DETERMINE THE JOINT DISPLACEMENT NECESSARY TO THE MOVEMENT OF THE JOINT OF THE MANIPULATOR TO ACHIEVE A GIVEN OBJECTIVE. THIS PAPER FOCUS THE IMPLEMENTATION OF NUMERICAL ALGORITHMS FOR THE SOLUTION OF THE KINEMATIC INVERSE PROBLEM THAT MAY BE IMPLEMENTED IN REAL TIME AND MODELING AND SIMULATION OF DYNAMIC SYSTEMS, WITH EMPHASIS IN THE STUDY AND CONTROLLERS OF POSITION OF JOINTS ROBOTICS. INITIALLY THE STUDY OF THE CONSTITUENT ELEMENTS OF A JOINT ROBOTICS WILL BE ACCOMPLISHED, SUCH AS: DC MOTOR, INERTIA, REDUCERS AND JOINING. TO LEAVE OF THAT STUDY IT WILL BE POSSIBLE THE DEFINITION OF THE CONTROL STRATEGY TO BE USED, INCLUDING THE DEVELOPMENT OF A GENERATOR OF TRAJECTORIES USED INSIDE AS REFERENCE OF A CONTROL MESH INVOLVING THESE ELEMENTS.

Author :

de Oliveira, Clivaldo 0
de Sá, Cláudio Eduardo Aravéchia
Rosário, João Maurício

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