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ROBOTICA
MIERCOLES M1 : 10:00 a 10:20
TITULO: Telecontrol bilateral de una clase de sistemas mecanicos subactuados
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| AUTORES: O. Peñaloza TESE, J. Alvarez CINVESTAV - IPN, L. A. Marquez CICESE |
| A. L. Gonzalez TESE, , |
RESUMEN: Se aborda el problema de telecontrol para una clase de sistemas mecánicos subactuados (SMS) en configuración maestro-esclavo y con retardo de transmisión. Dicho problema se ha resuelto al diseñar unos compensadores causales discontinuos que garantizan, bajo un análisis de estabilidad formal, buena coordinación de posición y reflexión de fuerza, satisfaciendo así objetivos tradicionales en el telecontrol de sistemas. Más aún, el sistema en lazo cerrado es forzado a evolucionar en tiempo finito a una variedad estable para todo tiempo, exhibiendo en ella características de robustez ante incertidumbres paramétricas y perturbaciones externas. El desempeño del esquema de control propuesto es visualizado
a través de simulaciones.
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ROBOTICA
MIERCOLES M1 : 10:20 a 10:40
TITULO: Development and control of a non-similar teleoperation master slave robot system
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| AUTORES: R. Cortes CINVESTAV-IPN, A. Rodriguez Angeles CINVESTAV-IPN, |
| , , |
| RESUMEN: The development of a non-similar master-slave teleoperation system is presented, it is composed by a five degree of freedom (dof) industrial robot as the slave and a three-dof parallel robot as the master. The master robot is designed pursuing haptic terminal functionality: low inertial effects, small motors and stiffness. The master robot is closed type whereas the slave robot is a serial one, and its dynamics is modeled by considering holonomic constraints such that it is represented by differential algebraic equations (DAE). Looking for good teleoperation proficiency it is considered a control technique based on the Joint Space Orthogonalization Method (JSOM), combined with Sliding PID to achieve convergency in finite time. The master and slave robots are geometrically non similar, thus the kinematics properties are considered by the control. In this article the master robot design is highlighted, which is oriented to haptic applications. It is provided a set of simulation results under the proposed controller. |
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ROBOTICA
MIERCOLES M1 : 10:40 a 11:00
TITULO: Descentralized Formation and Marching Control for Multi-Agent Robots based on the Leader-Followers Scheme
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| AUTORES: E. G. Hernandez - Martinez CINVESTAV-IPN, E. Aranda-Bricaire CINVESTAV-IPN, |
| , , |
| RESUMEN: Decentralized formation and marching control strategies for multi-agent robots are presented. The strategies are based on artificial potencial fields and the leader-followers scheme. The objective is to coordinate a group of agents, considered as points in plane, to follow a predefined path whereas agents achieve a particular formation. In these strategies, the leader agent must know the desired path of marching and the others can detect another agent only (minimum sensing requirements). The main goal is to achieve desired global behaviors through local interactions. |
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ROBOTICA
MIERCOLES M1 : 11:00 a 11:20
TITULO: Joint/Cartesian On-line Optimal Control of a Robot Manipulator Without Inverse Kinematics
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| AUTORES: A. Rodriguez-Angeles CINVESTAV-IPN, C. A. Cruz-Villar CINVESTAV-IPN, B.Muro-Maldonado CINVESTAV-IPN |
| , , |
| RESUMEN: This article presents a novel on-line optimal control for robot manipulators for which inverse kinematics is not required. The controller considers a Cartesian PID control that yields stability of the closed loop, but presents poor performance unless using high gains. A joint space on line optimal control based on the gradient flow approach is introduced to improve the performance of the robot. The combination of both controllers is implemented in joint space, by considering the robot Jacobian, nonetheless for design of both controllers only direct kinematics and cartesian errors are taken into account. Joint space controllers which are based on cartesian errors commonly require the inverse kinematics of the robot, in our proposal the joint space optimal control solves the inverse kinematics problem by itself, thus an explicit inverse kinematics model of the robot is not needed. The paper presents experimental results with a two degree of freedom (dof) planar manipulator, showing that the optimal control part highly improves the performance of the closed loop system. |
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ROBOTICA
MIERCOLES M1 : 11:20 a 11:40
TITULO: Analisis del Control de Robots en Espacio Operacional usando Lazos PI de Velocidad
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| AUTORES: Karla Camarillo ITL, Victor Santibañez ITL, Ricardo Campa ITL |
| Javier Moreno CITEDI, , |
| RESUMEN: En este documento se aborda el problema de control en espacio operacional de robots industriales que tienen servoactuadores con lazos internos de velocidad articular. Para ello, se analiza un esquema de control de doble lazo, en donde se tiene como lazo externo el controlador de movimiento por velocidad resuelta (RMRC) y, como lazo interno, un controlador PI de velocidad; éste último es el típico controlador interno de velocidad articular usado en robots industriales. Usando la teoría de sistemas pertubados se prueba, por primera vez, que las soluciones del sistema de lazo cerrado son uniforme y finalmente acotadas. |
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