PLANEJAMENTO DE TRAJETÓRIA COM OBSTÁCULOS PARA MANIPULADORES ROBÓTICOS COLABORATIVOS, INSTANCIADO EM EDUCAÇÃO UNIVERSITÁRIA
PLANEJAMENTO DE TRAJETÓRIA COM OBSTÁCULOS PARA MANIPULADORES ROBÓTICOS COLABORATIVOS, INSTANCIADO EM EDUCAÇÃO UNIVERSITÁRIA
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DOI: https://doi.org/10.22533/at.ed.7492403096
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Palavras-chave: Sistemas Computacionais Inteligentes, Robótica Cognitiva, Robótica, Educação Universitária
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Keywords: Intelligent Computational Systems, Cognitive Robotics, Robotics. University Education.
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Abstract: This work aims to present artificial neural networks (ANNs) to solve the inverse kinematics of a 2 degrees of freedom (DOF) robotic manipulator. Furthermore, a decision tree included to increase the safety of the moving robotic arm when an object appears in its trajectory. The decision tree offers two alternatives: avoid the obstacle by adding a point or, if this is not possible, stop and wait for cleared, like the behaviour of collaborative robots that work alongside humans. Trajectory planning used a fifth-degree polynomial, which proved to be a plausible solution. The results were promising, indicating that combining RNA with a security strategy was more robust. The work ends with a conclusion and suggestions for future studies
- Marcio Mendonca
- Francisco de Assis Scannavino Junior
- Henrique Cavalieri Agonilha
- Angelo Feracin Neto
- Marcio Jacometti
- Vicente de Lima Gongora
- Bruno Oliveira Rosa
- Marcos Antônio de Matos Laia
- Claudiane Olímpio da Silva
- Roseli Lopes Fernandes de Almeida
- José Augusto Fabri
- Fabio Rodrigo Milanez
- Emerson Ravazzi Pires da Silva
- Marcos Banheti Rabello Vallim
- Rodrigo Rodrigues Sumar
- Mateus Henrique De Oliveira Louro
- Roberto Bondarik
