Modelagem dinâmica por meio do método do trabalho virtual e controle pd descentralizado de uma plataforma de stewart-gough.

Abstract

This work presents the dynamics modeling through the virtual work principle, as well as the. Proportional-Derivative motion control of a parallel robotic manipulator known as StewartGough platform. Also, this work contains the imulation of kinematic, dynamic and control system equations. To perform these simulations, algorithms were developed and implemented using Matlab®. This work obtained as results the dynamics modeling of the system using the virtual work principle, the definition of the closed-form equations of motion and the design of the control system using a decentralized Proportional-Derivative controller. All the steps of the analysis– kinematic modeling, dynamic modeling and control – were simulated for a certain rajectory. It is concluded that it is possible to find the closed-form dynamics equations of motion of the manipulator by means of the virtual work principle, as well as that the erformance of the designed controller proved to be suitable for the application.