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espanolSe presentan el diseno, la construccion y el control de un mecanismo plano de cinco eslabones con cinco juntas de revoluta y dos grados de libertad. Se implemento el control por par calculado en el espacio articular para lograr una trayectoria deseada. Se desarrollo la cinematica de posicion y de velocidad, tanto directa como inversa, y unicamente la cinematica inversa de aceleracion como parametro requerido en la ley de control. El enfoque escogido para este robot paralelo es ventajoso puesto que permite obtener una ecuacion dinamica similar al modelamiento convencional de robots seriales, lo cual facilita la implementacion de tecnicas de control no lineal. La validez del enfoque planteado y la funcionalidad del controlador se verifican experimentalmente mediante la generacion de una trayectoria circular por el efector. A pesar de la concordancia entre la simulacion y los resultados experimentales, se sugiere como futuro trabajo el cambio en la estrategia de control para compensar efectos no modelados del sistema. EnglishThe design, construction and control of a two degree-of-freedom planar mechanism with five bar and five joints are presented. Computed control torque strategy in the joint space was implemented in order to fulfill a kinematic task by the end effector. It was required the position and velocity kinematic full analysis of the robot, both direct and reverse. The control law needed only the acceleration reverse kinematic formulation. The dynamic model of this parallel robot was obtained using an advantageous approach that is typical of serial robots, making easier the non-linear control techniques implementation. The validity of the dynamic model approach and the functionality of the controller are experimentally verified in the generation of a circular path by the end effector. Although there is accordance between the simulation and the experimental results, future work to implement other non-linear control strategies are suggested given the no modeled effects present in the system.

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