Control para seguimiento de trayectorias cartesianas en robots manipuladores
[EN] This article addresses Cartesian control for trajectory tracking of robot manipulators. The desired trajectories are proposed in Cartesian space. Through inverse kinematics, the desired trajectories in the joint space are obtained. From this relationship, the desired joint velocities and accele...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| 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:10251/205915 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/205915 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotic manipulation Trajectory tracking Robust control Nonlinear control systems Observers and predictors Manipulación robótica Planificación y seguimiento de trayectorias Control robusto Sistemas de control no lineal Observadores y predictores |
| Sumario: | [EN] This article addresses Cartesian control for trajectory tracking of robot manipulators. The desired trajectories are proposed in Cartesian space. Through inverse kinematics, the desired trajectories in the joint space are obtained. From this relationship, the desired joint velocities and accelerations are obtained, where differential kinematics is also used. The dynamic model is obtained using the Euler-Lagrange equations of motion. The objective of trajectory tracking of robot manipulators is achieved using only position measurements as feedback, thus omitting the use of filters and velocity observers. Semiglobal asymptotic stability is proved in the Lyapunov sense for the case of joint space trajectories and local asymptotic stability for trajectories in Cartesian space. The results are illustrated through numerical simulations in a two-degree-of-freedom robot and the experimental validation in a SCARA robot. |
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