Published:
2024-02-19Issue:
Vol. 18 No. 1 (2024)Section:
A Research VisionAnalysis, 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
Keywords:
Control, Dynamics, Kinematics, Parallel robot, Sliding mode control (en).Keywords:
Cinemática, Control, Dinámica, Modos deslizantes, Robot paralelo (es).Downloads
Abstract (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.
Abstract (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.
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