NDLI: Modelado, simulación y control de un manipulador robótico de 2 grados de libertad empleando Adams/Matlab

Content Provider	Semantic Scholar
Author	Poveda, Mendoza Iván, Carlos
Copyright Year	2014
Abstract	In this project we developed the model of a robotic arm with two degrees of freedom. Its main characteristics are defined kinematics and dynamic, leading to a mathematical model which describes the behavior of the manipulator in space, through the parameters of Denavit-Hastenberg and Lagrangian equations. Virtual model is built using the simulation software MSC Adams replacing the direct dynamic model. There shall be a PD controller with gravity compensation from the MATLAB environment to move the structure of the virtual robot. For analysis and simulation tool uses Adams / Control which provides a co-simulation between Matla and Adams, allowing to analyze the behavior of the evolution of the spatial position and articulation, the pairs generated by the motors at each joint and errors the system.
File Format	PDF HTM / HTML
Alternate Webpage(s)	https://repository.upb.edu.co/bitstream/handle/20.500.11912/1885/digital_22259.pdf?sequence=1
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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