Publicação
Modelagem Dinâmica e Simulação de um Controlador PID e LQR para um Manipulador Cilíndrico
| Resumo: | The use of industrial robots has grown over the years making production systems increasingly efficient, this requires the need for efficient controllers to control these robots, in addition to more accurate models. In this work the modeling of direct kinematics, differential kinematics (Jacobian) and dynamics of a cylindrical manipulator RPP (Rotational-Prismatic- Prismatic) are presented. As a result, a comparison of the performance of a PID (Proportional- Integral-Derivative) controller, in parallel and interactive form, and the LQR controller (Linear Quadratic Regulator) applied to the dynamic, uncoupled model, where independent torque control is performed , of each joint of the manipulator. |
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| Autores principais: | Batista, Josias Guimarães |
| Outros Autores: | Costa, Jonatha Rodrigues da; Souza, Darielson Araújo de; Filgueiras, Lucas Vinicios Oliveira; Nascimento Júnior, José Nogueira do; Souza Júnior, Antônio Barbosa de; Reis, Laurinda Lúcia Nogueira dos |
| Assunto: | Controlador PID Controlador LQR Robótica Manipulador cilíndrico Modelo dinâmico |
| Ano: | 2022 |
| País: | Brasil |
| Tipo de documento: | outro |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | IBICT |
| Idioma: | português |
| Origem: | Oasisbr |
| Resumo: | The use of industrial robots has grown over the years making production systems increasingly efficient, this requires the need for efficient controllers to control these robots, in addition to more accurate models. In this work the modeling of direct kinematics, differential kinematics (Jacobian) and dynamics of a cylindrical manipulator RPP (Rotational-Prismatic- Prismatic) are presented. As a result, a comparison of the performance of a PID (Proportional- Integral-Derivative) controller, in parallel and interactive form, and the LQR controller (Linear Quadratic Regulator) applied to the dynamic, uncoupled model, where independent torque control is performed , of each joint of the manipulator. |
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Atividades financiadas
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