{"title":"并联机器人3sps-Iu转矩控制的动力学分析与仿真","authors":"Katherin Duarte Barón, C. B. Pinilla, J. J. Gil","doi":"10.1109/CCAC.2019.8921238","DOIUrl":null,"url":null,"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.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Dynamic Analysis And Simulation Of Computed Torque Control Of A Parallel Robot 3sps-Iu\",\"authors\":\"Katherin Duarte Barón, C. B. Pinilla, J. J. Gil\",\"doi\":\"10.1109/CCAC.2019.8921238\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":184764,\"journal\":{\"name\":\"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CCAC.2019.8921238\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCAC.2019.8921238","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Dynamic Analysis And Simulation Of Computed Torque Control Of A Parallel Robot 3sps-Iu
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
