Desenvolvimento de uma estrutura de controle de posição aplicada ao Manipulador Robótico RD5NT
DOI:
https://doi.org/10.5935/1809-2667.20140020Keywords:
Automation, Position Control, RoboticsAbstract
This paper presents a RASTRO position control structure applied to a case study using the RD5NT robotic manipulator produced by Didacta Italia. The study provides details of the mathematical formulation of the control structure, as well as the procedures used to generate the desired trajectory and identify, in real time, the mathematical model of the manipulator. Following, the control structure is numerically implemented and, through numerical simulations, the quality of the controller is assessed.Downloads
References
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