Inverse dynamic control of a 2-DOF driving simulator platform
Fecha
2018-03-30
Autores
Ávalos García, Julio Javier
Izaguirre Castellanos, Eduardo
Hernández Santana, Luis
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Resumen
El modelado dinámico de mecanismos robóticos constituye la base para el diseño del Control. En
este trabajo se halla una ecuación dinámica de una Plataforma de Simulación de Conducción basada
en un mecanismo Paralelo de 2 GDL usando el método de Newton-Euler. El modelo propuesto
presenta características dinámicas desacopladas, por lo que se reduce considerablemente la
complejidad al diseñar el Controlador. Para lograr el desempeño deseado del sistema se implementa
la estrategia de Control por Modelo Dinámico Inverso acompañada por un Controlador PD en el
espacio Cartesiano. El control Cartesiano brinda un correcto posicionamiento del elemento final de
acuerdo con las especificaciones deseadas en el Espacio de Tareas. La estrategia de control
propuesta es simulada en MATLAB, donde los resultados muestran que el diseño del Control para el
Simulador es adecuado al desarrollar diferentes situaciones de conducción según las
especificaciones físicas del sistema.
Dynamic modeling 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 to the performance specifications of the system.
Dynamic modeling 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 to the performance specifications of the system.
Descripción
Palabras clave
2 GDL, Espacio Cartesiano, Control por Modelo Dinámico Inverso, Robot Paralelo, Plataforma
Citación
García, Castellanos and Santana, ITEGAM-JETIA. Vol. 04, Nº 13, pp. 59-65. March, 2018.