Abstract
This work presents the modeling and simulation of a manipulator robot with three degrees of freedom and considering its structures with rigid behavior. The concepts of kinematics for the mathematical deduction and the Lagrangian mechanics were used to obtain the dynamic models of the manipulator and the DC actuators with permanent magnet. Due to nonlinearity and dynamics characteristics, both the states observer and the control used were based on State Dependet Ricatti Equation (SDRE). The simulations made for constant performance parameters demonstrated the effectiveness of the optimal control applied to the manipulator and to the chosen DC actuator models. The applications of trajectories to the manipulator enrich the applicability of the project and the results obtained with the techniques chosen show his efficiency.
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Acknowledgements
The authors acknowledge support by CNPq (GRANT:306525/2015-1) and (GRANT:447539/2014-0), CAPES and FAPESP (GRANT 2015/20363-6) both Brazilian research funding agencies.
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Luz Junior, J.A.G., Tusset, A.M., Janzen, F.C., Rocha, R.T., Balthazar, J.M., Nabarrete, A. (2018). Optimal Control for Robot Manipulators with Three-Degress-of-Freedom. In: Awrejcewicz, J. (eds) Dynamical Systems in Theoretical Perspective. DSTA 2017. Springer Proceedings in Mathematics & Statistics, vol 248. Springer, Cham. https://doi.org/10.1007/978-3-319-96598-7_12
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DOI: https://doi.org/10.1007/978-3-319-96598-7_12
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