This thesis presents a proposal of a basic structure for the analysis of a robot manipulator with six degrees of freedom. The forward and inverse kinematics equations for this structure are derived. Also, the equations for ...

This work presents a digital controller design methodology and its implementation in digital signal processors (DSP’s). Two general design methods are exposed: Continuous time Controllers Approximation, and Pole Placement ...

This project is focused on the measurement and control system of a STATCOM, and the prototype construction. For achieving that, it was necessary to analyze the mathematical model of a STATCOM. This model was helpful for ...

In many motion control applications, e.g. in robot manipulator control, it is required that the tool movement control be such that the speed of motion be as high as possible, to reduce the cycle time, and with the best ...

This thesis presents the development of a software platform for planning and optimization trajectories for robot manipulators. Many applications require smooth trajectories and the minimization of a performance index. The ...