Inverse dynamic control of a 2-DOF driving simulator platform

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dc.contributor.authorÁvalos García, Julio Javier
dc.contributor.authorIzaguirre Castellanos, Eduardo
dc.contributor.authorHernández Santana, Luis
dc.contributor.departmentUniversidad Central "Marta Abreu" de Las Villas. Facultad de Ingeniería Eléctrica. Departamento de Control Automáticoen_US
dc.coverage.spatialBrasilen_US
dc.date.accessioned2019-03-05T17:42:14Z
dc.date.available2019-03-05T17:42:14Z
dc.date.issued2018-03-30
dc.description.abstractDynamic modelling is the basic element for controller design of robotics’ mechanisms. In this paper, a dynamic equation of a 2-DOF Parallel Driving Simulator Platform has been derived by the Newton-Euler formulation. The proposed model leads to decoupling dynamic characteristics, in which the complexity of the controller design can be significantly reduced. A model-based Computed-Torque Control strategy with a PD Controller in the Cartesian space is implemented in order to obtain the desired performance of the system. The Cartesian control performs an accurate positioning of the end effector, according to the desired task-space specifications. The proposed control strategy is simulated using the MATLAB software package, where simulation results prove that the designed control motion simulator is adequate to perform different driving situations according with the performance specifications of the system.en_US
dc.identifier.citationCitar según la fuente original: Avalos JJ, Castellanos EI, Santana LH. Inverse dynamic control of a 2-DOF driving simulator platform. Journal of Engineering and Technology for Industrial Applications. 2018;04(13):59-65.en_US
dc.identifier.doihttps://dx.doi.org/10.5935/2447-0228.20180008en_US
dc.identifier.issn2447-0228en_US
dc.identifier.urihttps://dspace.uclv.edu.cu/handle/123456789/10843
dc.language.isoen_USen_US
dc.relation.journalJournal of Engineering and Technology for Industrial Applicationsen_US
dc.rightsEste trabajo está licenciado bajo una licencia internacional Creative Commons Attribution-NonCommercial-NoDerivatives 4.0.en_US
dc.rights.holderITEGAM-JETIAen_US
dc.source.endpage65en_US
dc.source.initialpage59en_US
dc.source.issue13en_US
dc.source.volume04en_US
dc.subject2-DOFen_US
dc.subjectCartesian Spaceen_US
dc.subjectComputed Torqueen_US
dc.subjectParallel Roboten_US
dc.subjectPlatformen_US
dc.titleInverse dynamic control of a 2-DOF driving simulator platformen_US
dc.typeArticleen_US
dc.type.article3en_US

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Artículos - Departamento de Control Automático.