Aplicação e análise de técnica computacionais inteligentes e numéricas para cinemática e controle de braços robóticos com juntas rotacionais

Abstract

This work presents exploratory research on the application of intelligent algorithms in the control of robots with rotational joints in 2D, focusing on the use of artificial neural networks. The research aims to explore how these techniques can be used to optimize the performance and accuracy of motion control in robots with specific configurations, using mathematical models to describe and simulate the system's behavior. To achieve this, a detailed literature review was conducted on control, robotics principles, and artificial neural network algorithms and their applications in robot control, along with a practical implementation of the algorithm in conjunction with the robot's mathematical model. The implementation allowed for the analysis of the advantages and limitations of this approach, compared to other traditional control methods. Finally, the research discussed the applicability of the proposed solutions to this type of problem, highlighting potential improvements and future advancements in the field of intelligent robot control.