Banca de DEFESA: IGOR CABRAL MACHADO LOPES

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
STUDENT : IGOR CABRAL MACHADO LOPES
DATE: 23/12/2020
TIME: 09:30
LOCAL: Videoconferência
TITLE:

Decoupled controller for three degrees of freedom articulated robotic manipulator 


KEY WORDS:

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


PAGES: 76
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

This work proposes a control technique to 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. Articulated manipulators (RRR) have freedom of movement inside their workspace and are a type of manipulator widely used. The proposed control will use an inversion technique to decouples the dynamic of each joint of the RRR manipulator and apply to each decoupled joint two control strategies. The first strategy is the variable structure model adaptive control, and the second is a linear proportional derivative controller. In the end, simulation results are shown, and some analyses about them are done. 


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
Externo à Instituição - TIAGO ROUX DE OLIVEIRA - UERJ
Notícia cadastrada em: 05/12/2020 22:50
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