Projeto e montagem experimental de um manipulador robotico não-linear de dois graus de liberdade / Project and assembly of a nonlinear robotic manipulator of two degress of freedom

AUTOR(ES)
DATA DE PUBLICAÇÃO

2005

RESUMO

From reasons of applied nonlinear dynamics to robotics, it was developed an experimental setting of manipulator of two degrees of freedom where to the first joint is acted and second is sub-acted. The objectives had been established for the conception of the generated archetype. The experiment was carried through the development of manipulators of two degrees of freedom considered rigid. It can be extended to other degrees of freedom with some flexibility in future. The advantages and disadvantages of the use of architectures of controllers could be identified for applied to the command of mechanisms robotics

ASSUNTO(S)

robos - dinamica monholonomic systems manipuladores (mecanismo) robotic manipulators grupos holomicos dinamica nonlinear dynamics robotica

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