NONLINEAR MODELING OF TWO LINKS OF A THREE DEGREES OF FREEDOM ROBOT

Resumo

The objective of this paper is the nonlinear modeling of two links of a manipulator robot
with three degrees of freedom (3 DOF).The manipulator robot consists of two rotational joints and a
prismatic one. A gearmotor with frequency inverter and two electropneumatic valves are used to drive
the robot. There are dynamic systems that can’t be represented by linear models; in these cases, the
use of nonlinear models is indispensable. Robot Models, known as white box models, that are coupled
and presenting nonlinear equations can be obtained using Newton-Euler or Lagrange equations. In this
work a nonlinear model, known as black box model, will be obtained using data collected from links 1
and 3 of the robot and considering the dynamic coupling between the links of the robot. In the models
obtained the nonlinearities will be in the inputs, and the parameters of the obtained models are linear.
A parametric model described by an equation the difference with nonlinearity at the input, is called the
Volterra parametric model. Finally, the results obtained will be presented through the generated
model.