Controle de mesa cartesiana com dois graus de liberdade

Abstract

Nowadays, industry constantly demands for increased productivity, both in terms of production speed and product accuracy and quality. Manual production is becoming increasingly unable to meet this need, making it necessary to apply industrial robots to production lines to ensure higher productivity without losing quality. In order to meet the demand for such equipment, several companies began to produce and make them available in the market, generating a wide variety of models available, each with its application, its strengths and weaknesses. Often information about such features is not very accessible, or even unavailable to those who need it. That said, this study consisted of a survey, through experimentation, of the delay and error of a particular equipment present in the market, aiming to evaluate the fidelity of the trajectories described by it when compared to those desired. For this, several paths were generated in the Matlab® software, using the most common profiles in robotics, and then these paths were provided to the controller, while the response was observed. The results were trajectories described with negligible deformations in relation to the expected, differing only because of a delay time of 25 milliseconds between them. Thus, the controller has shown excellent quality and can be applied to almost any function in the industry as it will describe the desired path with high accuracy.