Control de posición y fuerza con estimación de masa para sistemas cooperativos
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| dc.contributor.author | Sánchez-Sánchez, P.
|
es_ES |
| dc.contributor.author | Arteaga-Pérez, M. A.
|
es_ES |
| dc.date.accessioned | 2020-10-05T11:53:06Z | |
| dc.date.available | 2020-10-05T11:53:06Z | |
| dc.date.issued | 2020-09-30 | |
| dc.identifier.issn | 1697-7912 | |
| dc.identifier.uri | http://hdl.handle.net/10251/151140 | |
| dc.description.abstract | [ES] La manipulación cooperativa de un objeto por dos o más brazos robóticos requiere controlar tanto el movimiento del objeto como las fuerzas ejercidas por los manipuladores. En términos de cinemática y estática, el enfoque elegido se basa en la denominada formulación simétrica. Se diseña un algoritmo de control que utiliza una modificación del método híbrido de torque computarizado basado en el Principio de Ortogonalización. Además, la masa del objeto se estima calculando la fuerza aplicada por cada efector final para sostener el objeto. El método propuesto es una extensión natural del esquema de control adaptativo previamente reportado para manipuladores geométricamente restringidos. La prueba de estabilidad se desarrolla utilizando la teoría de Lyapunov. Se presentan resultados experimentales. | es_ES |
| dc.description.abstract | [EN] The cooperative manipulation of an object by two or more robotic arms requires controlling both the object’s movement and the forces exerted by the manipulators. In terms of kinematics and static, the chosen approach is based on the so–called symmetric formulation. A control algorithm using a modified hybrid computed–torque method based on the Principle of Orthogonalization is designed. In addition, the mass of the object is estimated by calculating the force applied by each end–effector to hold the object. The proposed method is a natural extension of an adaptive control scheme previously reported for geometrically restricted manipulators. The stability test is developed using Lyapunov’s theory. Experimental results are presented. | es_ES |
| dc.description.sponsorship | Los autores agradecen a PRODEP (PROMEP) con el folio BUAP–811 y al proyecto PAPIIT IN117820. | es_ES |
| dc.language | Español | es_ES |
| dc.publisher | Universitat Politècnica de València | es_ES |
| dc.relation.ispartof | Revista Iberoamericana de Automática e Informática industrial | es_ES |
| dc.rights | Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) | es_ES |
| dc.subject | Cooperative robots | es_ES |
| dc.subject | Adaptive control | es_ES |
| dc.subject | Force control | es_ES |
| dc.subject | Holonomic constraints | es_ES |
| dc.subject | Hyperbolic tangent functions | es_ES |
| dc.subject | Robots cooperativos | es_ES |
| dc.subject | Control adaptable | es_ES |
| dc.subject | Control de fuerza | es_ES |
| dc.subject | Restricciones holonómicas | es_ES |
| dc.subject | Función tangente hiperbólica | es_ES |
| dc.title | Control de posición y fuerza con estimación de masa para sistemas cooperativos | es_ES |
| dc.title.alternative | Position and force control with mass estimation for cooperative systems | es_ES |
| dc.type | Artículo | es_ES |
| dc.identifier.doi | 10.4995/riai.2020.12432 | |
| dc.relation.projectID | info:eu-repo/grantAgreement/BUAP//811/ | es_ES |
| dc.relation.projectID | info:eu-repo/grantAgreement/UNAM/PAPIIT/IN117820/MX/Control y regulación de fuerza en sistemas de teleoperación bilateral./ | es_ES |
| dc.rights.accessRights | Abierto | es_ES |
| dc.description.bibliographicCitation | Sánchez-Sánchez, P.; Arteaga-Pérez, MA. (2020). Control de posición y fuerza con estimación de masa para sistemas cooperativos. Revista Iberoamericana de Automática e Informática industrial. 17(4):368-379. https://doi.org/10.4995/riai.2020.12432 | es_ES |
| dc.description.accrualMethod | OJS | es_ES |
| dc.relation.publisherversion | https://doi.org/10.4995/riai.2020.12432 | es_ES |
| dc.description.upvformatpinicio | 368 | es_ES |
| dc.description.upvformatpfin | 379 | es_ES |
| dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
| dc.description.volume | 17 | es_ES |
| dc.description.issue | 4 | es_ES |
| dc.identifier.eissn | 1697-7920 | |
| dc.relation.pasarela | OJS\12432 | es_ES |
| dc.contributor.funder | Benemérita Universidad Autónoma de Puebla | es_ES |
| dc.contributor.funder | Universidad Nacional Autónoma de México | es_ES |
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