Publicado:
2024-02-19Número:
Vol. 18 Núm. 1 (2024)Sección:
Visión InvestigadoraAnalysis, design and simulation of a sliding mode control for a parallel robot with 3 degrees of freedom 3SPS-1U
Análisis, diseño y simulación de un control por modos deslizantes para un robot paralelo de 3 grados de libertad 3SPS-1U
Palabras clave:
Control, Dynamics, Kinematics, Parallel robot, Sliding mode control (en).Palabras clave:
Cinemática, Control, Dinámica, Modos deslizantes, Robot paralelo (es).Descargas
Resumen (en)
Within the study of robotics there are parallel robots, which are revolutionizing the world of automation thanks to their advantages in precision, speed, safety and versatility. These robots are used in the automotive, aeronautical, manufacturing, medicine, and research sectors, among others. For this reason, a sliding mode control is designed and implemented for a 3SPS – 1 U parallel robot, starting with an investigation of information recorded in articles, books, monographs and other material available in databases corresponding to the topic. Subsequently, the mathematical models of the robot, the mobility analysis, the kinematics and the dynamics of the system are analyzed, which allows finding a non-linear mathematical expression on which the robust control strategy by sliding modes is designed, implementing it in Matlab. Finally, the performance of the sliding mode control strategy is compared with another robust strategy: computed torque control, the best performance is presented with sliding modes control.
Resumen (es)
Dentro del estudio de la robótica se encuentran los robots paralelos, que están revolucionando el mundo de la automatización gracias a sus ventajas en precisión, velocidad, seguridad y versatilidad. Estos robots se usan en el sector automotriz, aeronáutico, manufacturero, en medicina, en investigación entre otros, por esa razón se diseña e implementa un control por modos deslizantes para un robot paralelo 3SPS – 1 U, iniciando con una investigación de información registrada en artículos, libros, monografías y demás material disponible en bases de datos correspondientes al tema. Posteriormente se analizan los modelos matemáticos del robot, el análisis de movilidad, la cinemática y la dinámica del sistema, lo que permite encontrar una expresión matemática no lineal sobre la cual se diseña la estrategia de control robusto por modos deslizantes, implementándola en Matlab. Finalmente se compara el desempeño de la estrategia de control por modos deslizantes con otra estrategia robusta: el control por par computado, siendo la de modos deslizantes la que mejor desempeño presenta.
Referencias
M. Garcia Sanz and M. Motilva Casado, "Herramientas para el estudio de robots de cinemática paralela: Simulador y prototipo experimental," Revista Iberoamericana de Automática e Informática Industrial, RIAI, vol. 2, no. 2, pp. 73-81, 2005. https://polipapers.upv.es/index.php/RIAI/article/view/8064
A. I. Aureles Cabrera, Robot paralelo tipo STEWART para la rehabilitación de tobillo, Hidalgo, Mexico: Universidad Politécnica de Tulancingo, 2019. http://www.upt.edu.mx/Contenido/Investigacion/Contenido/TESIS/MAC/2019/MAC_T_2019_01_AAC.pdf
Instituto de Investigación de Seguridad en la Conducción IOWA, «Simulador NADS - 1,» Univesidad de Iowa, 2023. [En línea]. Available: https://dsri.uiowa.edu/nads-1. [Último acceso: 02 2023].
SIMAERO, "AIRBUS A340 FFS," SIMAERO, 2023. [Online]. Available: https://www.sim.aero/a340/. [Último acceso 02 2023].
O. Altuzarra, Y. San Martín, E. Amezua and A. Hernández, "Motion pattern analysis of parallel kinematic machines: A case study," Robotics and Computer-Integrated Manufacturing, vol. 25, no. 2, pp. 432-440, 2009. https://doi.org/10.1016/j.rcim.2008.01.007
J. Fernandes and A. Selvakumar, "Kinematic and Dynamic Analysis of 3PUU Parallel Manipulator for Medical Applications," Procedia Computer Science, vol. 133, no. 1, pp. 604-611, 2018. https://doi.org/10.1016/j.procs.2018.07.091
I. Ben Hamida, M. Amine Laribi, A. Mlika, L. Romdhane, S. Zeghloul and G. Carbone, "Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks," Mechanism and Machine Theory, vol. 156, no. 1, pp. 104-141, 2021. https://doi.org/10.1016/j.mechmachtheory.2020.104141
K. Duarte Barón and C. Borrás Pinilla, «Generalidades de robots paralelos,» Revista visión electrónica, algo más que un estado sólido, vol. 10, nº 1, pp. 1-11, 2016. https://doi.org/10.14483/22484728.11711
K. Duarte Barón, C. Borrás Pinilla and J. J. Gil Pelaez, «Dynamic analysis and simulation of computed torque control of a parallel robot 3SPS - 1U,» de IEEE 4th Colombian Conference on Automatic Control (CCAC), Medellín, Colombia, 2019. https://doi.org/10.1109/CCAC.2019.8921238
C. Gosselin and J. Angeles, "Singularity analysis of closed-loop kinematic chains," IEEE Transactions on Robotics and Automation, vol. 6, no. 3, pp. 281-290, 1990. https://doi.org/10.1109/70.56660
J. Kardos, "Robust Computed Torque Method of Robot Tracking Control," in 22nd International Conference on Process Control (PC19), Strbske Pleso, Slovakia, 2019. https://doi.org/10.1109/PC.2019.8815088
C. Jun and W. Lin, "Track Tracking of Double Joint Robot Based on Sliding Mode Control," in IEEE 3rd International Conference on Information Systems and Computer Aided Education (ICISCAE), Dalian, China, 2020. https://doi.org/10.1109/ICISCAE51034.2020.9236895
W. X. Xu, G. Z. Cao, Y. P. Zhang, J. C. Chen, D. P. Tan and Z. Q. Ling, "Adaptive backstepping sliding mode control of lower limb exoskele-ton robot based on combined double power reaching law," in 2th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Baishan, China, 2022. https://doi.org/10.1109/CYBER55403.2022.9907279
X. Chen, H. Chen, Y. Huang and Q. Huang, "Adaptability Control Towards Complex Ground Based on Fuzzy Logic for Humanoid Robots," IEEE Transactions on Fuzzy Systems, vol. 30, no. 6, pp. 1574-1584, 2022. https://doi.org/10.1109/TFUZZ.2022.3167458
D. Li, J. Pan, J. Liu, M. Wang and J. Yu, "Model Predictive Control Based Path Following of an Amphibious Robot," in 0th Chinese Control Conference (CCC), 2021. https://doi.org/10.23919/CCC52363.2021.9549348
Y. Zhang, L. Sol and Y. Zhang, "Research on Algorithm of Humanoid Robot Arm Control System Based on Fuzzy PID Control," in International Conference on Artificial Intelligence and Autonomous Robot Systems (AIARS), Bristol, United Kingdom, 2022. https://doi.org/10.1109/AIARS57204.2022.00082
K. Duarte Barón and C. Borrás Pinilla, Analisis, diseño y simulacion de un control robusto para un robot paralelo de 3 grados de libertad, Bucaramanga, Colombia, Universidad Industrial de Santander, 2019. https://noesis.uis.edu.co/items/c91bc6a4-e228-44f8-8ab4-33000e9e8688
J. J. Slotine and W. Li, Applied nonlinear control, New Jersey: Prentice Hall, 1991.
S. Iqbal and A. I. Bhatti, "Robust sliding-mode controller design for a stewart platform," in Proceedings of International Bhurban Conference on Applied Sciences, Islamabad, Pakistan, 2007. https://doi.org/10.1109/IBCAST.2007.4379924
C. Zhang and L. Zhang, "Kinematics analysis and workspace investigation of a novel 2-DOF parallel manipulator applied in vehicle driving simulator," Robotics and Computer-Integrated Manufacturing, vol. 29, no. 2, pp. 113-120, 2013. https://doi.org/10.1016/j.rcim.2012.11.005
Cómo citar
APA
ACM
ACS
ABNT
Chicago
Harvard
IEEE
MLA
Turabian
Vancouver
Descargar cita
Visitas
Descargas
Licencia
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial 4.0.
.png)
atribución- no comercial 4.0 International
.jpg)
