Diseño de un Controlador por Torque Calculado CTC de un Robot Manipulador Tipo SCARA
A control by reference model Computed Torque Control (CTC) was implemented through simulation on a SCARAtype robot manipulator with four degrees of freedom, in order to carry out the study of the benefits of the algorithm to a set of tests. The CTC is a classical law in control of industrial manipul...
- Autores:
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2011
- Institución:
- Universidad Antonio Nariño
- Repositorio:
- Repositorio UAN
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.uan.edu.co:123456789/10409
- Acceso en línea:
- https://revistas.uan.edu.co/index.php/ingeuan/article/view/323
https://repositorio.uan.edu.co/handle/123456789/10409
- Palabra clave:
- Controlador por torque calculado CTC
controlador predictivo generalizado GPC
control por modelo de referencia MPC
robot manipulador
SCARA
Computed torque control CTC
generalized predictive controller GPC
reference model control RMC
robot manipulator
SCARA
- Rights
- License
- https://creativecommons.org/licenses/by-nc-sa/4.0
| Summary: | A control by reference model Computed Torque Control (CTC) was implemented through simulation on a SCARAtype robot manipulator with four degrees of freedom, in order to carry out the study of the benefits of the algorithm to a set of tests. The CTC is a classical law in control of industrial manipulators and it uses the feedback of a signal that cancels the effects of gravity, friction, inertia tensor of the manipulator, coriolis and centrifugal forces. The controllers were evaluated by calculating the tracking error, rejection of disturbance and errors in the model. |
|---|