Estrategia de control para robots manipuladores con realimentación visual y plataforma electro-neumática de 3gdl // Control Scheme for robots manipulators visual servoingand 3DOF electro-pneumatic platform

Authors

  • René González-Rodríguez Empresa de Automatización Integral. CEDAI. Cuba
  • Luís Hernández-Santana Universidad Central de Las Villas Marta Abreu. Grupo de Investigaciones de Automática, Robótica y Percepción. Cuba
  • Eduardo Izaguirre Universidad Central de Las Villas Marta Abreu. Grupo de Investigaciones de Automática, Robótica y Percepción. Cuba
  • Ernesto Rubio Universidad Central de Las Villas Marta Abreu. Grupo de Investigaciones de Automática, Robótica y Percepción. Cuba

Abstract

Resumen
En este artículo se presenta un esquema de control en el espacio de tarea para dos estructuras robóticas diferentes, una plataforma electro-neumática de tres grados de libertad y un sistema servovisual. El esquema de control está basado en la medición del espacio de tarea del sistema. Consta de dos lazos en cascada. En el lazo interno se ejecuta el control articular y en el externo el control en el espacio de tarea. Se presenta el análisis de estabilidad y los resultados experimentales que corroboran el buen funcionamiento del sistema propuesto en un robot manipulador y una plataforma electro-neumática de tres grados de libertad. El esquema presentado abre un nuevo campo de investigación en el área del control en el espacio de tarea para resolver problemas de control de trayectoria y control anticipatorio.

Palabras claves: control en el espacio de tarea, control servo visual, robot paralelo

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Abstract In this paper a control scheme in the task space is presented for a 3DOF Electro-Pneumatic Platform and Servo-visual System. The control scheme is based on the measurement of system task space state. The control system considers two loops in cascade, an internal loop solving the robot’s joint control and an external loop the task space control. A stability analysis is developed under the conditions that it is possible to approximate the dynamic effect of the internal loop as an external loop time delay. To illustrate the proposed controller, the control system stability and its performance, experimental results using a 3DOF pneumatic parallel robot and servo-visual system are presented. Experimental results confirm the expected step response in the task space. The control scheme presented opens a new research field in the task space control with algorithms for the solution of, trajectory control and feed-forward control.

Key words: task space control, visual servoing, parallel robot.

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How to Cite

1.
González-Rodríguez R, Hernández-Santana L, Izaguirre E, Rubio E. Estrategia de control para robots manipuladores con realimentación visual y plataforma electro-neumática de 3gdl // Control Scheme for robots manipulators visual servoingand 3DOF electro-pneumatic platform. Ing. Mec. [Internet]. 2011 Aug. 31 [cited 2025 Sep. 13];14(3):245-57. Available from: https://ingenieriamecanica.cujae.edu.cu/index.php/revistaim/article/view/26

Issue

Vol. 14 No. 3 (2011): september-december

Section

Original article

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