Utilização de matrizes no estudo de orientação e posição de um braço robótico por meio das coordenadas de Denavit-Hartenberg.
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Data
2014-08-08
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Universidade Federal de Goiás
Resumo
This work have as the main objective present one a different way to teach the subject
matrix multiplication, a way in a ludic form, applied, that can transform the teaching
more pleasureable and motivate for the high scholl students, because for many this issue
has no practical applications, which for many reasons is the lack of interest in learning
such content. The tool used to attract as students so as teachers was the utilization of Kit
LEGO® Mindstorms NXT 2.0 for the construction of the robotic arm, or robotic
manipulator, that which for this propose, has three rotational joints. The LEGO kit was
choosen due its easy interaction with children and adolescents, and to encourage the
construction of knowledge stimulating the solution of problems that may arise during
the process of building robotic arm.The application of content takes place in obtaining
the four parameters Denavit-Hartenberg and those obtained after the placement of
reference systems, where three of these parameters are constants obtained by
measurement at robotic arm and the fourth parameter is variable dependent on the
intended movement or the final position which is to be determined.
Descrição
Palavras-chave
Multiplicação de matrizes, LEGO® Mindstorms, Denavit-Hartenberg, Braço robótico, Juntas rotacionais, Matrix multiplication, LEGO® Mindstorms, Denavit e Hartenberg, Robotic arm, Rotational joints
Citação
COSTA, Carlos Gomides da. Utilização de matrizes no estudo de orientação e posição de um braço robótico por meio das coordenadas de Denavit-Hartenberg. 2014. 97 f. Dissertação (Mestrado Profissional em Matemática em Rede Nacional) - Universidade Federal de Goiás, Catalão, 2014.