EnRI III Encontro de Robótica Inteligente l 14 a 20 de julho de 2006

Abstract. This work is focused on the motion control of an underactuated brachiation robot with 3 links. We present the modeling of the dynamics of the robot and introduce the application of the model-based predictive con-trol (MPC) using a linearized model of the system. The robot has 3 revolute joints but only one of them is actuated, i. e., the robot has less control inputs than degrees of freedom. The investigation of the MPC to control such a system is due to the fact that MPC is able do deal with constraints (state or input limitations) in a direct way, obtaining an optimal control law. Also, it is investigated the use of a linearized model for prediction of system state. Simulation results are shown for complete arm switching, as well as some directions for future developments. Resumo. Este trabalho esta ́ concentrado no controle de um robo ̂ brace-jador subatuado com 3 elos. Apresenta-se o desenvolvimento do modelo matemático para a dinâmica do robo ̂ e se introduz a aplicação de controle preditivo baseado em modelo (MPC) utilizando um modelo linearizado d