Abstract:The use of industrial robots has grown over the years making production systems increasingly efficient, this requires the need for efficient controllers to control these robots, in addition to more accurate models. In this work the modeling of direct kinematics, differential kinematics (Jacobian) and dynamics of a cylindrical manipulator RPP (Rotational-Prismatic-Prismatic) are presented. As a result, a comparison of the performance of a PID (Proportional-Integral-Derivative) controller, in parallel and intera… Show more
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