Proposal of methodology for the modeling and control of manipulators
Título del documento: Proposal of methodology for the modeling and control of manipulators
Revista: Journal of the Brazilian Society of Mechanical Sciences
Base de datos: PERIÓDICA
Número de sistema: 000312117
ISSN: 0100-7386
Autores: 1


2
Instituciones: 1Universidade Estadual de Campinas, Departamento de Engenharia Mecanica, Campinas, Sao Paulo. Brasil
2Centro Federal de Educacao Tecnologica do Parana, Departamento de Electronica, Curitiba, Parana. Brasil
Año:
Periodo: Jul
Volumen: 24
Número: 3
Paginación: 200-207
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Aplicado
Resumen en inglés Industrial applications demand that robots operate in agreement with the position and orientation of their end effector. It is necessary to solve the kinematics inverse problem. This allows the displacement of the joints of the manipulator to be determined, to accomplish a given objective. Complete studies of dynamical control of joint robotics are also necessary. Initially, this article focuses on the implementation of numerical algorithms for the solution of the kinematics inverse problem and the modeling and simulation of dynamic systems. This is done using real time implementation. The modeling and simulation of dynamic systems are performed emphasizing off-line programming. In sequence, a complete study of the control strategies is carried out through the study of several elements of a robotic joint, such as: DC motor, inertia, and gearbox. Finally a trajectory generator, used as input for a generic group of joints, is developed and a proposal of the controller's implementation of joints, using EPLD development system, is presented
Disciplinas: Ingeniería
Palabras clave: Ingeniería biónica y cibernética,
Ingeniería de control,
Manipuladores,
Cinética,
Modelado,
Control dinámico
Keyword: Engineering,
Bionics and cybernetics,
Control engineering,
Manipulators,
Kinetics,
Modelling,
Dynamic control
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