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Trajectory tracking for robot manipulators using differential flatness
Seguimiento de trayectorias en manipuladores robóticos usando Differential Flatness
DOI:
https://doi.org/10.15446/ing.investig.v31n2.23468Keywords:
condition-based maintenance, fault detection, neuronal networks, permanent magnet synchronous motor. (en)Seguimiento de trayectorias, Manipuladores robóticos, Brazo Humano, Differential Flatness, Control PD. (es)
This paper proposes applying differential flatness to robot manipulator trajectory tracking. The trajectories for each generalised coordinate are proposed as a function and the corresponding input must be found to guarantee tracking. It is shown that the position in the generalised coordinates and their derivatives are flat inputs which, together with a PD controller, could determine (with some restrictions) manipulator movement having minimal deviation throughout its trajectory in both plane movements and in space.
Este documento propone una aplicación con Differential Flatness para el problema de seguimiento de trayectorias en manipuladores robóticos. Para cada coordenada generalizada, se proponen sus trayectorias como una función en el tiempo donde deben encontrar las entradas correspondientes para garantizar el seguimiento. Se demuestra que la posición de cada coordenada generalizada del manipulador robótico y sus correspondientes derivadas son salidas planas que, en conjunto con un controlador PD pueden determinar, con algunas restricciones, los valores de fuerza para conseguir un movimiento en el manipulador con una mínima desviación a lo largo del trayecto, tanto en movimientos planos como en el espacio.
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Copyright (c) 2011 Elkin Veslin Diaz, Jules Slama, Max Dutra, Omar Lengerke, Magda Morales Tavera
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