Optimal control for robot manipulators with three-degress-of-freedom

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.