Modelamiento y simulación de un robot redundante  de tipo manipulador SCARA

dc.creator	John Kern M
dc.creator	Claudio Urrea O
dc.date	2011-12-01T00:00:00Z
dc.date.accessioned	2015-07-20T22:07:52Z
dc.date.available	2015-07-20T22:07:52Z
dc.identifier	1870-9095
dc.identifier	https://doaj.org/article/f257f96553e343ddae8707c419d5d0e1
dc.identifier.uri	http://evidence.thinkportal.org/handle/123456789/11560
dc.identifier.uri	https://doaj.org/article/f257f96553e343ddae8707c419d5d0e1
dc.description	In this paper modeling of a redundant SCARA-type five degrees of freedom robotic manipulator is presented. Three controllers are developed: hyperbolic sine and hyperbolic cosine, sliding mode and calculated torque which are applied to the model considered. We performed a simulation environment, by employing MatLab/Simulink programming tools, which is used to perform various tests on the model of redundant manipulator with each controller, including the dynamics of the actuators, when subjected to follow a desired trajectory in space. The results are obtained by means of comparative curves and rms index of joint and Cartesian errors.
dc.language	English
dc.language	Spanish
dc.language	Portuguese
dc.publisher	Instituto Politécnico Nacional, Latin American Physics Education Network
dc.relation	http://www.lajpe.org/dec11/LAJPE_585_John_Kern_preprint%20corr_f.pdf
dc.relation	https://doaj.org/toc/1870-9095
dc.source	Latin-American Journal of Physics Education, Vol 5, Iss 4, Pp 824-838 (2011)
dc.subject	Redundant manipulators
dc.subject	dynamic model
dc.subject	controllers
dc.subject	simulation.
dc.subject	Special aspects of education
dc.subject	LC8-6691
dc.subject	Education
dc.subject	L
dc.subject	DOAJ:Education
dc.subject	DOAJ:Social Sciences
dc.subject	Special aspects of education
dc.subject	LC8-6691
dc.subject	Education
dc.subject	L
dc.subject	DOAJ:Education
dc.subject	DOAJ:Social Sciences
dc.subject	Special aspects of education
dc.subject	LC8-6691
dc.subject	Education
dc.subject	L
dc.subject	Special aspects of education
dc.subject	LC8-6691
dc.subject	Education
dc.subject	L
dc.subject	Special aspects of education
dc.subject	LC8-6691
dc.subject	Education
dc.subject	L
dc.title	Modelamiento y simulación de un robot redundante de tipo manipulador SCARA
dc.type	Article