Diseño de un Controlador por Torque Calculado CTC de un Robot Manipulador Tipo SCARA

Diseño de un Controlador por Torque Calculado CTC de un Robot Manipulador Tipo SCARA

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A control by reference model Computed Torque Control (CTC) was implemented through simulation on a SCARAtype robot manipulator with four degrees of freedom, in order to carry out the study of the benefits of the algorithm to a set of tests. The CTC is a classical law in control of industrial manipul...

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Bibliographic Details
Main Authors: Valencia, Guillermo E., Turizo, John C., Sanjuan, Marco E.
Format: info:eu-repo/semantics/publishedVersion
Language:spa
Published: Universidad Antonio Nariño 2021
Subjects:
Computed torque control CTC
generalized predictive controller GPC
reference model control RMC
robot manipulator
SCARA
Controlador por torque calculado CTC
controlador predictivo generalizado GPC
control por modelo de referencia MPC
robot manipulador
Online Access:http://revistas.uan.edu.co/index.php/ingeuan/article/view/323
http://repositorio.uan.edu.co/handle/123456789/3904
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