Controle preditivo generalizado de manipulador SCARA

Abstract

This work aims at the modeling and simulation of the predictive control technique in industrial robotic manipulators. These have shown potential benefits in the control of these manipulators. Therefore, this study will apply the Generalized Predictive Control in the control position of the SCARA type manipulator. Initially will be formulated full kinematic and dynamic model of the manipulator, then computer simulations will be implemented in order to analyze the movements and interactions of forces and moments handler. Then control techniques widely used in the literature based on Computed Torque Control will run on handler in order to linearize the system. Finally, apply the Generalized Predictive Control, with the Computed Torque Control for trajectory tracking check. For comparison the Proportional Integral Derivative control is also applied in the handler. The performances of the drivers in the study were evaluated computationally in Matlab / Simulink® platform.