DYNAMIC ANALYSIS AND SIMULATION OF COMPUTED TORQUE CONTROL OF A PARALLEL ROBOT 3SPS-1U

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dc.contributor.authorDuarte Baron, Katherinspa
dc.contributor.authorBorras Pinilla, Carlosspa
dc.contributor.authorGil, Jhon Jairospa
dc.contributor.googlescholarhttps://scholar.google.es/citations?user=e59BJIUAAAAJ&hl=esspa
dc.contributor.googlescholarhttps://scholar.google.com/citations?user=jVAx2LkAAAAJ&hl=enspa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2020-05-22T00:18:42Zspa
dc.date.available2020-05-22T00:18:42Zspa
dc.date.issued2020-05-21spa
dc.description.abstractThe 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.spa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.urihttp://hdl.handle.net/11634/23369
dc.relation.annexedhttp://unidadinvestigacion.usta.edu.cospa
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dc.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.subject.keywordDynamic Analysisspa
dc.subject.keywordRobotspa
dc.subject.keywordSimulacion of computedspa
dc.titleDYNAMIC ANALYSIS AND SIMULATION OF COMPUTED TORQUE CONTROL OF A PARALLEL ROBOT 3SPS-1Uspa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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