Estudo experimental de geração de trajetórias e desenvolvimento de controle de posição de manipuladores robóticos

Abstract

This course conclusion work is aimed at the study of robotic manipulators considering their construction, application, and use. The present work is divided into two parts: the first includes the development of a robotic platform called BNC3D, in which manipulator kinematics, as well as trajectory planning, were studied and developed; the second part, constitutes the study of the dynamics of robotic manipulators, as well as the study of two types of drivers based on the PUMA 560 manipulator, and such developments were made through computational simulation using Matlab and Simulink. Therefore, this work aims to bring an experimental part to the academic scenario, in the case of the developed physical platform, as well as seeking a simulated scenario for the development of more specific applications, as in the case of drivers and their comparisons.