Módulo Gerador de Trajetórias Aplicado no Eixo de um Servomecanismo

Resumo

Several sectors, and especially the industrial environment, have
become increasingly automated. Their processes end up need more
sophisticated applications and, through a feedback control system,
they seek to obtain a better performance, as in the case of servomechanisms.
In addition, in certain applications, it is necessary to generate movements to provide a desired behavior in the mechanical axis, simplifying the operation of the controller. In this sense, trajectory generating algorithms assist in the configuration and implementation of the position, speed and acceleration profile
with unique characteristics for each situation. Considering the relevance of this theme, this work describes the development of a trajectory generating module, responsible for the generation of the movements of a servomechanism. The trajectory generation algorithms, known as cubic polynomial, fifth order polynomial and trapezoidal, were studied and implemented. A hardware based on the Arduino Mega, a power driver and a servomotor, was designed
to validate these algorithms. The position, speed and acceleration profiles generated for a one axis servosystem and the feedback obtained by an encoder, allowed to validate the proposed strategy. It is hoped that the designed platform would become an important resource in a discipline of Robotics.