Comparativo de eficiência de controladores lineares no controle de posicionamento de um manipulador robótico com dois graus de liberdade

Abstract

The motion and control applied to robotic manipulators has attracted the interest of researchers in the fields of engineering and robotics, where the design and evaluation of vibration and positioning control systems are one of the main focuses in their sections. Robotic manipulators with two degrees of freedom are one of the main mechanical systems where these effects can be found and, for this purpose, devices are needed to establish control of the active set and study its behaviors. In this work, the mathematical modeling of the system is developed in order to compare the performance of linear controls, considering the Linear Quadratic Controller (LQR), Feedforward Control (FFW) and Integrative Control (I) in relation to the ability to control position and vibration of a robot composed of two rigid links. The position is controlled by the electric current applied to the DC motor. The control acts on the motor current, and consequently on the position of the motor shaft and link. The results and numerical simulations carried out demonstrate the feasibility of applying the three control techniques considered, Linear Quadratic Controller (LQR) just, combined with Feedforward Control (FFW) and Integrative Control (I), in controlling the position of the robotic manipulator with two degrees of freedom, as well as a comparison between the efficiency of the applied control proposals.