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Calculated Torque Control of a Planar Parallel Robot 2-RR

dc.contributor.authorYime Rodríguez, Eugenio
dc.contributor.authorRoldán Mckinley, Javier
dc.contributor.authorVilla Ramírez, José Luis
dc.date.accessioned2023-07-21T15:54:31Z
dc.date.available2023-07-21T15:54:31Z
dc.date.issued2022
dc.date.submitted2023
dc.identifier.citationYime Rodríguez, E., Roldán Mckinley, J., & Villa Ramírez, J. (2021). Calculated torque control of a planar parallel robot 2-RR. Journal of Au-tonomous Intelligence, 5(1), 72-84.spa
dc.identifier.urihttps://hdl.handle.net/20.500.12585/12300
dc.description.abstractThis paper introduces the design, structure and control method of a five-bar planar mechanism with five revolute joints and two degrees of freedom. The control is realized by calculating the torque in the joint space to obtain the required trajectory. The direct and inverse kinematics of position and velocity are proposed, and the inverse kinematics of acceleration is taken as the parameter required by the control law. The method selected for this parallel robot is advantageous because it allows to obtain the dynamic equations similar to the traditional series robot modeling, which is helpful to the realization of nonlinear control technology. The effectiveness of the method and the functionality of the controller are verified by experiments, and a circular trajectory is generated by the actuator. Although the simulation results are consistent with the experimental results, it is suggested that the future work is to change the control strategy to compensate for the influence of the unmodeled system. © 2022 by author(s) and Frontier Scientific Publishing.spa
dc.format.extent13 páginas
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.sourceJournal of Au-tonomous Intelligence, 5(1)spa
dc.titleCalculated Torque Control of a Planar Parallel Robot 2-RRspa
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dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.hasversioninfo:eu-repo/semantics/draftspa
dc.identifier.doi10.32629/jai.v5i1.508
dc.subject.keywordsParallel Manipulator;spa
dc.subject.keywordsStewart Platform;spa
dc.subject.keywordsBiomechanicsspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.identifier.instnameUniversidad Tecnológica de Bolívarspa
dc.identifier.reponameRepositorio Universidad Tecnológica de Bolívarspa
dc.publisher.placeCartagena de Indiasspa
dc.subject.armarcLEMB
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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.