Modelagem cinemática e dinâmica de robôs modelo SCARA e desenvolvimento de aplicativo para planejamento e controle de trajetória
The present work consists in the development of kinematic and dynamic modeling of SCARA (Selective Compliance Articulated Robot) robots and application development for planning and trajectory control. The same aims to facilitate the learning of robotics through the graphic representations generated...
| Autor principal: | Abreu, Leonardo de Melo |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2023
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/30493 |
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| Resumo: |
The present work consists in the development of kinematic and dynamic modeling of SCARA (Selective Compliance Articulated Robot) robots and application development for planning and trajectory control. The same aims to facilitate the learning of robotics through the graphic representations generated by the application developed, dada the increasing use of manipulative robots by various fields of industry and the difficulty in finding didactic materials that explore the simulation of industrial manipulator robots. The mathematical development for the modeling of direct kinematics, inverse kinematics and trajectory generation is presented, therefore, the algorithm used to obtain dynamic equations and, finally, a partitioned control proposal was elaborated based on the dynamic characteristics of the manipulator. From the equations obtained and implemented in the MATLAB® R2021a simulation software, the application was developed in which the user can perform the simulation of positions and generation of trajectories for any robot of type SCARA that have similar structure to the robot SCARA SR-6 iA. After tests and simulations, it is concluded that the developed application successfully fulfills the function of performing the calculations and graphic representations of all stages of development (kinematics, dynamics and control), being feasible, its use for educational and professional purposes. |
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