Control de trayectoria en espacio de tareas para un robot paralelo de 2 GDL
Fecha
2015-06-19
Autores
Izaguirre Castellanos, Eduardo
Urquijo Pascual, Orlando
Hernández Santana, Luis
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Resumen
The scheme kinematic task space control is improvement in order to solve the trajectory following problem in an industrial 2DOF pneumatic parallel platform. The control system considers two loops in cascade, an internal loop solving the robot’ joint control and an external loop implementing the task space control. For the solution of the trajectory following problem the wanted input is feed-forwarded, according the specific condition of the digital implementation of the kinematic task space control. In order to illustrate the performance of the proposed control scheme, experimental results obtained through various experiments with the parallel robot of 2 DOF SIMPRO are presented. Experimental results confirm the expected tracking response in the task space, with good time performance.
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Palabras clave
Parallel Robots Control, Tracking, Task Space Control
Citación
Citar según la fuente original:
Pascual, O. U., Santana, L. H., & Castellanos, E. I. (2015). Control de trayectoria en espacio de tareas para un robot paralelo de 2 GDL. Paper presented at the XVI Convención de Ingeniería Eléctrica CIE 2015.