Revista ELECTRO
Vol. 43 – Año 2021
Artículo
TÍTULO
Regulación de Robots Manipuladores
AUTORES
Luna Zempoalteca Viridiana, Reyes Cortés J. Fernando, Reyes Báez Rodolfo
RESUMEN
En este trabajo se desarrolla un nuevo algoritmo de control tipo exponencial (capacitivo) con funciones hiperbólicas, para el control de posición (setpoint control) de robots manipuladores de n grados de libertad (gdl). Se aplica la función estricta de Lyapunov, para demostrar la estabilidad asintótica global del punto de equilibrio de la ecuación en lazo cerrado. Se comienza con la demostración de la existencia y unicidad del punto de equilibrio, para posteriormente proponer la función estricta de Lyapunov, la cual, debe satisfacer ser definida positiva. Finalmente, al emplear el Teorema de Rayleigh-Ritz se definen las cotas suficientes y necesarias que demuestran la estabilidad asintótica global del punto de equilibrio. Se implementa el algoritmo propuesto para el caso del robot manipulador de 2 grados de libertad (gdl) y se compara con el control PD.
Palabras Clave: algoritmo de control, robot manipulador, función estricta de Lyapunov.
ABSTRACT
In this work, a new exponential (capacitive) control algorithm with hyperbolic functions is developed for a robot with n degrees of freedom (dof). The strict Lyapunov function is implemented to demonstrate the global asymptotic stability of the equilibrium point of the closed-loop equation. We begin with the demonstration of the existence and uniqueness of the equilibrium point, to later propose the Lyapunov’s strict function, which must satisfy to be positive definite. Finally, by employing the Rayleigh-Ritz Theorem, the sufficient and necessary bounds that demonstrate the global asymptotic stability of the equilibrium point are defined. The proposed algorithm is implemented for the case of the manipulator robot with 2 degrees of freedom (dof) and compared with the PD type control.
Keywords: control algorithm, manipulator robot, Lyapunov’s strict function.
REFERENCIAS
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CITAR COMO:
Luna Zempoalteca Viridiana, Reyes Cortés J. Fernando, Reyes Báez Rodolfo, "Regulación de Robots Manipuladores", Revista ELECTRO, Vol. 43, 2021, pp. 168-173.
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