Dinâmica e controle de movimento de corpo rígido de um manipulador robótico rígido/flexivel / Dynamic and control of rigid body motion of a rigid/flexible robotic manipulador

AUTOR(ES)
DATA DE PUBLICAÇÃO

2001

RESUMO

This work presents a study of the dynamics and control of the movement of rigid body of a robotic manipulator. The model of the manipulator, consisting of a mechanism with two flexible links hardwired by meetings that do not suffer deformations, was gotten through the Formularization of Lagrange and the Admitted Modes Method. For matching effect, two other models for the manipulator under the same conditions are developed: one with two rigid links and another one with only as the flexible link. The fact is standed out of that, during this study no linearização was used, thus treating the problem with its non linearily, however subject to small elastic movements. The law of applied Control constitutes a PD Controller (proportional + derivative) having as objective commit the initial state of the manipulator how much to the angular speed of the links, that is, given a disturbance to the system it expects that the control system is capable to interrupt the movement of the links of the manipulator. The gotten results had shown that the control system fulfilled to its objective how much to the control of the movement of rigid body for all the models, exactly in presence of flexible structures. One still revealed that the flexible model can be considered a model fuller than the rigid model. The structural analysis through the autovalores showed that the relative positions of the links of the manipulator influence the modes of vibration and its respective natural frequencies, being able to be considered one of the great problems that involve the dynamics of flexible manipulators.

ASSUNTO(S)

controle dinâmica equation of motion engenharia e tecnologia espacial euler-lagrange of motion dynamics robot arms control equações de movimento engineering and space technology braços robóticos manipuladores manipulators

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