Avaliação do impacto dos modos de trabalho de manipuladores robóticos em série para resolução de redundância

Abstract

Robotic manipulators are increasingly present in the industrial activities of today, being used for various tasks ranging from welding operations to transportation and cargo handling as a whole. Despite being widely used, many times their application is not done in the most optimized way and they do not take into account the best configuration for the handler, causing characteristics such as workspace usage, torque and power consumption are not optimally utilized possible. Starting from the beginning, for a manipulator to be applied in a certain task, it is necessary to do its mathematical modeling in order to obtain the positions of the joints and links of the manipulator, their speeds and respective accelerations, also taking into account the end-effector positions. The definition of joint positions is done using inverse kinematics. The present work carries out this modeling for the case of a serial manipulator of the RRR type, in which, through the calculations made in the inverse kinematics, two solutions to the problem are found, that is, two diferente configurations for the joints of the robotic manipulator, being they are the elbow-up configuration and the elbow-down configuration. These two configurations, in turn, are called the working modes of a robotic manipulator. When assigning the manipulator’s work mode, it is also possible to define the end-effector positions. When the end-effector has more degrees of freedom than the task needs, the phenomenon called redundancy occurs in the task space, so it is possible to optimize the performance using the excess degrees of freedom. This excess of degrees freedom defines a problem with infinite solutions for the joint positions of the robot. The definition of these positions through an optimization process is called redundancy resolution, and can be done through the local method. The local redundancy resolution is the one that observes the gradient of a cost function at each instant of time and decides joint positions from this. With this, this work aims to study the impacts of the two configurations of a robotic manipulator in series on the resolution redundancy to optimize its kinematic and dynamic performance. In addition, through comparisons of the results between the two working modes of the robotic manipulator, it will be possible to visualize which is the most effective working mode for the Cartesian location in which the manipulator is located