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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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