Open AccessControl par calculado para seguimiento de trayectoria aplicado a la dinámica de un robot de 3gdl con propósitos didácticos
Author(s) -
Juan Carlos Hernández-Durón,
José Luis Ortiz-Simón,
Martha Isabel Aguilera-Hernández,
Daniel Olivares-Caballero
Publication year - 2020
Publication title -
revista de operaciones tecnológicas
Language(s) - English
Resource type - Journals
ISSN - 2523-6806
DOI - 10.35429/jto.2020.13.4.1.8
Subject(s) - robot , torque , control theory (sociology) , path (computing) , work (physics) , joint (building) , computer science , control (management) , simulation , engineering , physics , artificial intelligence , structural engineering , mechanical engineering , thermodynamics , programming language
The article shows the needed procedure to obtain the dynamic model of a robot, with the purpose of being able to follow a planned path using the control law “CTC” Computed Torque Control. The robot was designed in a simple way for didactic reasons, this robot has three degrees of freedom, four links and three joints to move around in the work place. Two out of these joints are rotatory joints meanwhile the third one is a prismatic joint. The dynamic model of the robot is obtained using the Jacobians and Christoffel symbols of the center of mas of each link. Also including the Gravitational vector and the frictions of each joint. The objective of the dynamic model is to be able to simulate the robot in “Simulink” and test different paths using the computed torque control in which the gains of the control will be manipulated until a value that satisfies the desired path is found