Identificação não linear de um manipulador eletromecânico de três graus de liberdade

• Ano de defesa: 2014
• Autor(a) principal: Meira, Anrafel Silva
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal da Paraíba; Brasil; Engenharia Mecânica; Programa de Pós-Graduação em Engenharia Mecânica; UFPB
• Palavras-chave em Português: Robótica; Robotics; Identificação de Sistemas; Sistemas não Lineares; System identification; Nonlinear Systems; ENGENHARIAS::ENGENHARIA MECANICA
• Link de acesso: https://repositorio.ufpb.br/jspui/handle/tede/7571

This paper presents multivariable nonlinear mathematical models with estimable parameters in online identification for an electromechanical manipulator, thus enabling practical applications of adaptive control techniques. The manipulator comprises three rotary joints and three links appointed link 1, 2 and 3. The total displacement of the link 1 is 180° and of the link 2 is 110 °, with each of these links being driven by a direct current motor, while the link 3 has its motion controlled by a mechanical system that always keeps the horizontal position. The identification process started of the nonlinear autoregressive model with exogenous variables (NARX) for multiple inputs and multiple outputs, using the error reduction rate (ERR) method, coupled nonlinear, decoupled nonlinear and decoupled linear models were determined to the link 1 and link 2 of the manipulator. The Recursive Least Squares (RLS) estimator is used to estimate the parameters of the representative model of the robot manipulator links 1 and 2, thus verifying the efficiency of the models obtained in the online identification.