Computed torque control of a 2-RR planar parallel robot // Control por par calculado de un robot paralelo planar 2-RR

Eugenio Yime
Javier Roldán Mckenley
Jose Luis Villa Ramirez


DOI: http://dx.doi.org/10.15665/rp.v15i2.1111

Resumen


Se presentan el diseño, la construcción y el control de un mecanismo plano de cinco eslabones con cinco juntas de revoluta y dos grados de libertad. Se implementó el control por par calculado en el espacio articular para lograr una trayectoria deseada. Se desarrolló la cinemática de posición y de velocidad, tanto directa como inversa, y únicamente la cinemática inversa de aceleración como parámetro requerido en la ley de control. El enfoque escogido para este robot paralelo es ventajoso puesto que permite obtener una ecuación dinámica similar al modelamiento convencional de robots seriales, lo cual facilita la implementación de técnicas de control no lineal. La validez del enfoque planteado y la funcionalidad del controlador se verifican experimentalmente mediante la generación de una trayectoria circular por el efector. A pesar de la concordancia entre la simulación y los resultados experimentales, se sugiere como futuro trabajo el cambio en la estrategia de control para compensar efectos no modelados del sistema.


Palabras clave


dinámica paralela, control de robots, mecanismo 5 barras, robot 2D-5R

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