Projeto de um controlador PD adaptativo via alocação de polos aplicado em um robô manipulador de dois graus de liberdade planar

• Ano de defesa: 2013
• Autor(a) principal: Pereira, Laís Guedes
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal da Paraí­ba; BR; Engenharia Mecânica; Programa de Pós Graduação em Engenharia Mecânica; UFPB
• Palavras-chave em Português: Robô Manipulador; Identificação de Sistemas; Controlador PD; Manipulator Robot; Systems Identification; PD-control; CNPQ::ENGENHARIAS::ENGENHARIA MECANICA
• Link de acesso: https://repositorio.ufpb.br/jspui/handle/tede/5381

This work presents a development and implementation of control adaptive techniques for a planar manipulator robot with two degrees of freedom, formed a rotational and a prismatic link. The rotational link is made up of a branch long U-shaped aluminum activated by a motor-reducer DC, its angular position is sensed by a ten turn potentiometer. The prismatic link is a double-acting pneumatic cylinder with a single rod fixed inside the branch U-shaped being triggered by an electropneumatic proportional valve, where linear position is given by a potentiometric ruler. Using the recursive least squares (RLS) estimator is obtained the mathematic model that represents each robot link so as uncoupled, then is designed and implemented an adaptive controller Proportional Derivative (PD-control) by pole placement to obtain the positions of the robot manipulator links. The experimental results are presented, as well as evaluation of the system response under the action of controllers implemented