Simulação da cinemática inversa de um robô SCARA através da implementação de algoritmos por métodos numéricos

Abstract

This work addressed the modeling of direct kinematics and the computational simulation of the inverse kinematics of the SCARA type robot (Selective Compliance Articulated Robot) through the implementation of algorithms using numerical methods, using the Matrix Laboratory (Matlab®) simulation software. The study of kinematics relates the behavior of the manipulator's position and orientation in Cartesian space, without taking into account the physical forces involved. Due to its high degree of complexity and non-linear equations, inverse kinematics uses numerical methods for a better or possible solution to the problem. For such manipulation, it is necessary to survey mathematical equations related to the kinematics of the manipulator. In this study, the kinematics of the SCARA robot were implemented, using the DenavitHartenberg convention for joints and moving bodies. Subsequently, the numerical optimization methods of Newton-Raphson, Levenberg-Marquardt and Halley were implemented to compare the algorithms on the simulation platform. The methods were successful in execution, with errors lower than 10−6 hich makes it possible to study future work.