Estudo comparativo de estratégias de controle de robôs manipuladores no espaço de juntas

Nardênio Almeida Martins

doi:10.4025/actascitechnol.v23i0.2786

Comparative study of robot manipulators control strategies in joint space

Authors

Nardênio Almeida Martins UEM

DOI:

https://doi.org/10.4025/actascitechnol.v23i0.2786

Keywords:

robô manipulador, seguimento de trajetória, controle adaptativo, espaço de juntas

Abstract

Direct adaptive control algorithms for robot manipulators in joint space coordinates are provided. High precision tracking control of robot manipulators with unknown load is analyzed. A proposed adaptive controller is compared to two versions of direct adaptive controllers. Two versions of direct adaptive control methods are those suggested by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control method has been simulated on the same trajectories and the performance has been evaluated based on error dynamics, trajectory tracking accuracy and parameter estimation

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Author Biography

Nardênio Almeida Martins, UEM

possui graduação em Engenharia Elétrica Industrial pelo Instituto Católico de Minas Gerais (1994) , mestrado em Engenharia Elétrica pela Universidade Federal de Santa Catarina (1997) e curso-tecnico-profissionalizante em Técnico Em Metalurgia pelo Colégio Técnico Industrial de Metalurgia da Esc de Form Prof da Acesita (1986) . Atualmente é Professor não-titular assistente B da Universidade Estadual de Maringá. Tem experiência na área de Engenharia Elétrica , com ênfase em Controle Automação e Microinformática Industrial. Atuando principalmente nos seguintes temas: Controle Adaptativo, Robô Manipulador, Seguimento de Trajetória, Espaço de Juntas, Controle Cinemático e Espaço da Tarefa Currículo Lattes

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Published

2008-05-05

How to Cite

Almeida Martins, N. (2008). Comparative study of robot manipulators control strategies in joint space. Acta Scientiarum. Technology, 23, 1469–1480. https://doi.org/10.4025/actascitechnol.v23i0.2786

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Issue

Vol. 23 (2001)

Section

Informatics

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0.8

2019CiteScore

36th percentile