Por favor, use este identificador para citar o enlazar este ítem:
http://cio.repositorioinstitucional.mx/jspui/handle/1002/1310| COORDINATED CONTROL OF A 6-DOF ROBOTIC MANIPULATOR EMPLOYING VIRTUAL MODELS OF ITS ACTUATORS | |
| Jessica Villalobos | |
| Fernando Martell Chávez | |
| Acceso Abierto | |
| Atribución-NoComercial-SinDerivadas | |
| Internal model control Model reference control Independent joint control Direct current motor UR5 manipulator Inverse kinematics | |
| "This study proposes a scheme that combines the model reference control with the internal model control to impose a first-order behavior on the speed control system of direct current motors. This scheme is used as the internal loop to control the position of a model to use it as the reference for the physical motor. This work also presents an inverse kinematic solution for the UR5 and algorithms to choose angles that do not lead to singularities. These algorithms can be used in independent joint control schemes such as the one proposed in this document." | |
| 2023-11 | |
| Tesis de doctorado | |
| Inglés | |
| Villalobos, (2023). "Coordinated Control of a 6-DOF Robotic Manipulator Employing Virtual Models of its Actuators". Tesis de Doctorado en Ciencias (Óptica). Centro de Investigaciones en Óptica, A.C. Aguascalientes, Aguascalientes, México. 149 páginas. | |
| OTRAS | |
| Versión aceptada | |
| acceptedVersion - Versión aceptada | |
| Aparece en las colecciones: | DOCTORADO INTERINSTITUCIONAL EN CIENCIA Y TECNOLOGÍA (DPICYT) |
Cargar archivos:
| Fichero | Descripción | Tamaño | Formato | |
|---|---|---|---|---|
| 18432.pdf | Tesis completa/ Full text available | 8.41 MB | Adobe PDF | Visualizar/Abrir |