Control de un brazo robot con articulaciones elásticas
This project is based on the implementation of different techniques of control, to control a robotic arm with elastic joints. The main objective of this project is the design of optimal control with which, we pretend to operate the dynamic system at the lowest cost. Three modalities of the quadratic...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/94063 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/94063 |
| Access Level: | acceso abierto |
| Palabra clave: | Microcontroller programming Robot arm with elasticity Optimal control LQR LQR trajectory STM32F4 Raspberry Pi Control óptimo LQR con trayectoria iLQR Brazo robótico con elasticidad Programación de microcontroladores INGENIERIA DE SISTEMAS Y AUTOMATICA Máster Universitario en Automática e Informática Industrial-Màster Universitari en Automàtica i Informàtica Industrial |
| Sumario: | This project is based on the implementation of different techniques of control, to control a robotic arm with elastic joints. The main objective of this project is the design of optimal control with which, we pretend to operate the dynamic system at the lowest cost. Three modalities of the quadratic linear regulator have been tested: the classic, with trajectory tracking and the iterative. Previously the dynamic model has been obtained through the Lagrange-Euler equations that require the potential and kinetic energies of the different links. Then, the model has been linearized to move to the state space, which is the recommended way to manage and control multivariate processes. For the tests of the control, on the one hand, it has been tested and simulated with Matlab and on the other hand, it has been tested in the real plant. For the case of the real plant, a microcontroller has been used and it represents the control device. That involves interaction with sensors and actuators and the need to develop a software that performs all the tasks of interpreting information to determine and obtain the control algorithm that brings the system to the desired state. Also, homing has been implemented and security measures like controlled stop. |
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