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Abstract
The objective of this work is the evaluation, through computational simulation, of the performance and behavior of the PUMA 560 robot under different types of motion controllers. Nominal models for control design were obtained through linearization of the robot dynamic model considering selected points of operation through Denavit-Hartenberg (DH) modeling and convention. In addition to a PID joint decentralized control law and a computed torque control law that had already been implemented in the simulator, it was implemented a predictive control law and a robust control law as well. Tuning of the parameters of these control laws were performed for the Puma 560 robot and each control system was evaluated through simulation. Results about the controller design and the control system simulation were collected and discussed. Completing this study aimed to analyzing a six degree of freedom robot manipulator motion control taking in account performance and robustness aspects, it was chosen a particular structure and introduced a force control loop; this controller design and simulator extension allowed an evaluation of some force control aspects and digital twin.
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References
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