Control Proporcional Derivativo para un Brazo Robótico Articulado.

Abstract

At present the study and research of robot manipulators has grown, not only because of its highly nonlinear nature, but also by their increasing applications in different areas. The study of robotics has become a current issue for investigation and experimentation. As a tool for calculation and control of robot manipulators using dynamic modeling, which has a great contribution in the field of design and simulation, it also benefits for experimental results without need for building a prototype. Moreover with the increasing number of applications requiring greater accuracy in their movements, paths and control their movements need to be more accurate. So in this work a new methodology for obtaining the dynamic model of robot, which is validated in simulation and experimentation, this not only benefits the computational cost, but also in the control of robot manipulators. The experiment was carried out with the dynamic model obtained with the proportional derivative control, with which results were obtained.