Abstract-The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtain the control specifications [1]. In this paper, the calculation of a controller by sliding modes for a manipulator arm with 4 rotational degrees of freedom will be done, showing the respective results and conclusions at the end.
A parallel robot is defined as a mechanism of closed kinematic chains with rigid movements, high speed, precision and better inertias, in respect to those with structures composed by open links. besides these configurations describe highly nonlinear behaviours, reflected in the complexity of their kinematic and kinetic models. Finally, these systems are integrated with control techniques that obtain the desired trajectories in this paper for continuous 3D printing applications. For this reason, the development of control techniques based on dynamics by torque control law using drivers for the actuators maintaining the desired torque are described, these control techniques allow to obtain continuous behaviours in the final effector in order to make uniform impressions for biopolymer scaffolds.
The worldwide use of renewable energies sources is steadily growing, due to demand to get new means that allows the support of massive use that it give in the common life, with the final purpose of decrease the use of nature reserve to produce it, in this case is exhibited the necessity to create systems to generated resources in an efficient way, using unlimited power infeed, as example we found the solar energy. This work shows the results obtained by perform a comparative analysis between the static behaviors and the design of a fuzzy logic controller for solar photovoltaic tracking system, defining the photovoltaic position from the maximum solar irradiation presented in 90 degrees; for verification of the result obtained by the controller, we make de simulation of a solar irradiation based in the data of the weather station of the Corporación Autónoma Regional de Cundinamarca (CAR), situated in the campus of the Nueva Granada Military university.
A mobile manipulator is defined as a mechanism composed by a serial manipulator located just above robotic platform. Besides, is a system with kinematic restrictions determined by an independent movement of the wheels and the degrees of freedom of the manipulator arm. The combination of the previous systems increases the advantages in terms of maneuverability, efficiency, range, between others. Another advantage of manipulator robot is the larger working space when it moves over a mobile platform allowing to reach different position on XY cartesian plane. Therefore, the design of a real-time system for a mobile manipulator will be shown in this paper.
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