Design, simulation and comparison of controllers for a redundant robot

(in lingua inglese)

The use of a robotics simulator for development of a robotics control program is highly recommended regardless of whether an actual robot is available or not. Because of this, a kinematic and dynamic model of a redundant robot with five degrees of freedom using the methods of Denavit–Hartenberg and Lagrange–Euler, respectively, was developed. Six controllers were made hyperbolic sine–cosine; computed torque; sliding hyperbolic mode; control with learning; and adaptive. A simulator was made using the MatLab/Simulink software. The tests of the manipulator model were presented, including the dynamics of the actuators and together with each controller, by following a test trajectory composed of a spiral in the Cartesian space.