Banca de QUALIFICAÇÃO: IGOR CABRAL MACHADO LOPES

Uma banca de QUALIFICAÇÃO de MESTRADO foi cadastrada pelo programa.
STUDENT : IGOR CABRAL MACHADO LOPES
DATE: 13/12/2019
TIME: 09:00
LOCAL: LACI (Sala 5, Bloco 1 do NTI)
TITLE:

Decoupled controller for three degrees of freedom articulated robotic manipulator (RRR)

KEY WORDS:

articulated manipulator, adaptive control, PD control, nonlinear system, left-inverse system. 

PAGES: 19
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUMMARY:

This work proposes the control of an articulated robotic manipulator, classified in the literature as anthropomorphic (RRR) which is formed by three rotary joints, three degrees of freedom and spatial movement. This kind of manipulator provides large freedom of movement inside its workspace and it is widely used in many fields. In order to control the manipulator, a variable structure model adaptive control strategy will be used, which makes use of an inversion of systems to decouple and control each joint individually. It will also be implemented a PD controller, applied to the inverse system, to be compared with the adaptive control. Simulation results will be presented to prove the controller operation.

BANKING MEMBERS:
Presidente - 2566657 - SAMAHERNI MORAIS DIAS
Interno - 1577068 - KURIOS IURI PINHEIRO DE MELO QUEIROZ
Interno - 1242315 - PABLO JAVIER ALSINA
Externo ao Programa - 347565 - ALDAYR DANTAS DE ARAUJO