Estudo comparativo de modelos matemáticos e físicos de robôs manipuladores
This study deals with the modeling of a SCARA (Selective Compliance Assembly Robot Arm) manipulator robot. Two models are obtained for the manipulator robot. These models are denoted by mathematical model and physical model. The mathematical model is obtained by applying the Lagrange formulation whi...
| Autor principal: | Ivanaga, Gustavo Henrique |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2021
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/26266 |
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| Resumo: |
This study deals with the modeling of a SCARA (Selective Compliance Assembly Robot Arm) manipulator robot. Two models are obtained for the manipulator robot. These models are denoted by mathematical model and physical model. The mathematical model is obtained by applying the Lagrange formulation while the physical model is obtained using the Simscape tool from the Simulink package of the MATLAB software. In general, engineers find it difficult to apply the Lagrange formulation and interpret the responses of the models obtained. The Simscape tool allows you to obtain models of robotic systems in a faster and simpler way. Furthermore, it is possible to make animations that facilitate the visualization of the robot's dynamic behavior. Obtaining the physical model in Simscape requires a detailed understanding of robot kinematics that is described with DenavitHartenberg notation. The main contribution of this work is to study and validate the physical model that can be used in future work to test control techniques. The physical model is numerically validated using the mathematical model for the robot with one, two and three degrees of freedom. |
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