Otimização de trajetória para um manipulador planar de dois graus de liberdade

Abstract

Due to the large industrial growth and the need to have an agile production, reliable, low cost companies are automating their production in order to raise their productivity and competitiveness. In this context, the robotic manipulators have been used in industry to carry out more and more activities, because of their versatility as well as its optimal ratio of cost/benefit. Because it is an industrial environment, in which the handlers perform repetitive tasks, it needs the time to accomplish a task is minimized so as to produce more. This paper presents a method to minimize the torque associated with the movement between two positions of a planar handler two degrees of freedom. For this, it uses the optimization technique known as Genetic Algorithm (GA) that optimizes the trajectory parameters in order to minimize the torque applied to the actuators during movement. Numerical simulations of the dynamic model of the robot manipulator and trajectory were implemented in Simulink/Matlab. The AG was implemented using the Optimization-toolbox/Matlab. The numerical results of the implemented methodology show the feasibility of the proposed methodology to minimize the torque applied by the actuators.