Modelagem e simulação de controle de trajetória para robôs manipuladores com três graus de liberdade com elementos rígidos

Abstract

This work presents the modeling and simulation of a manipulator robot with three degrees of freedom and considering its structures with rigid behavior. The concepts of kinematics for the mathematical deduction and the Lagrangian mechanics were used to obtain the dynamic models of the manipulator and the DC actuators with permanent magnet. Due to nonlinearity and dynamics characteristics, the control used was based on state coefficient matrices (SDC), starting with the Linear Quadratic Regulator (LQR) and following the State Dependet Ricatti Equation (SDRE). The simulations made for constant performance parameters demonstrated the effectiveness of the optimal control applied to the manipulator and to the chosen DC actuator models. The applications of trajectories to the manipulator enrich the applicability of the project and the results obtained with the techniques chosen prove the possibility of using the manipulator in applications where there is a more restrictive need of performance. In future works will be built complementary models to the presented in this work for application in physical prototypes and use of discrete control.