Diseño de un Controlador por Torque Calculado CTC de un Robot Manipulador Tipo SCARA

Authors

  • Guillermo E. Valencia Universidad Antonio Nariño
  • John C. Turizo Universidad del Norte
  • Marco E. Sanjuan Universidad del Norte

Keywords:

Computed torque control CTC, generalized predictive controller GPC, reference model control RMC, robot manipulator, SCARA

Abstract

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.

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Published

2011-12-01
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How to Cite

Valencia, G. E., Turizo, J. C., & Sanjuan, M. E. (2011). Diseño de un Controlador por Torque Calculado CTC de un Robot Manipulador Tipo SCARA. INGE@UAN - TENDENCIAS EN LA INGENIERÍA, 2(3). Retrieved from https://revistas.uan.edu.co/index.php/ingeuan/article/view/323

Issue

Vol. 2 No. 3 (2011)

Section

Artículo de investigación científica y tecnológica

License

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

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