Estudo teórico e experimental da dinâmica e controle de manipulador robótico

• Main Author: Silva, Juan Fonseca Maia da
• Publication Date: 2017
• Format: Bachelor thesis
• Language: por
• Source: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Download full: http://repositorio.utfpr.edu.br/jspui/handle/1/7141
• topic: Manipuladores (Mecanismo); Robótica; MATLAB (Programa de computador); Manipulators (Mechanism); Robotics; MATLAB (Computer program); CNPQ::ENGENHARIAS

This work aims to present a theoretical and experimental approach to an ARM robot with 3 degrees of freedom. Simultaneously it will be presented tools built for simulation and control of manipulators, which will be a discussion of how relevant would be to apply the use of a computer application widespread in the academic, the industrial. a case study where the goal and make a comparison between theory and practice, and verify that the tool developed for simulation could be extended to companies will be done. The developed handler is modeled and its dynamics analyzed through simulations. The experiments will prove the effectiveness of the proposed control technique.