Izaguirre Castellanos, EduardoUrquijo Pascual, OrlandoHernández Santana, Luis2019-02-052019-02-052015-06-19Citar 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 2015.978-959-312-025-8https://dspace.uclv.edu.cu/handle/123456789/10733The 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.esEste documento es Propiedad Patrimonial de la Universidad Central “Marta Abreu” de Las Villas. Los usuarios podrán hacer uso de esta obra bajo la siguiente licencia: Creative Commons4.0 License: Atribución-No Comercial-Compartir IgualParallel Robots ControlTrackingTask Space ControlProceedingsUniversidad Central “Marta Abreu” de Las Villas