Estudo, modelagem e controle de manipuladores com enfoque no Manipulador Inteligente AX-12A.

Abstract

This work deals with the static kinematics study and differential robotic manipulators, as well as the generation of trajectory modeling and identification of handlers. Despite the theoretical development is widespread, focus was given to examples and applications involving intelligent manipulator AX-12A. Throughout the work chose to use the MatLab tools, textit toolbox RVC Tools, the textit software V-REP and finally the ROS ( textit Robot Operating System).