DYNAMIC ANALYSIS AND SIMULATION OF COMPUTED TORQUE CONTROL OF A PARALLEL ROBOT 3SPS-1U
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2020-05-21
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Abstract
The parallel robots have entered the industry with
the passage of time, being the mathematical model very important
to the development of control strategies allowing obtain a better
performance. So an analysis dynamic to find the parameters of
the dynamic equation characteristic is made using the method of
Euler - Lagrange, and expressions generals are found, so these
can be used to other parallel robots with a major number of
degrees of freedom. The simulation of the dynamic is made
in Matlab, then a computed torque control is proposed and
simulated using Matlab - Simulink. In this way, the performance
of the controller can be analyzed.
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Atribución-NoComercial-SinDerivadas 2.5 Colombia