Modelagem dinâmica e estática do braço robótico UR5

Abstract

There is a great impediment in the joint work between academy and industry regarding works involving robotic manipulators, because the physical details of the robot are not easily available, making it difficult to apply new technologies in the industry. This work produces a mathematical model for a robot to enable a closer relationship between the academy and industry. It is described the procedure to perform kinematic and dynamic analysis of a robotic arm with 6 degrees-of-freedom. The UR5 Robotic Manipulator, developed by Universal Robots, was chosen as a case study, which is a manipulator very present in the industry and has resources that allow it to work collaboratively with human beings. During the analysis, the DenavitHartenberg parameters were chosen to represent the construction of the Robotic Manipulator, and the Euler-Lagrange equation is used to derive the dynamics equation. Using nonlinear optimization techniques, a proportional and derivative controller is defined to control the robot. In order to validate the modeling, a trajectory was elaborated, and tests were elaborated and executed in open loop and closed loop using a controller.