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Resumen

 

PREDICTIVE FUNTIONAL CONTROL OF A PARALLEL ROBOT

CONTROL PREDICTIVO FUNCIONAL DE UN ROBOT PARALELO
Oscar Andrés Vivas Albán.

Abstract: This paper presents an efficient application of a model reference control on a parallel robot. This type of robots has as main advantage its precision and great movement speeds. The control method applied is a Predictive Functional Control which uses a robot's simplified dynamic model. Three control strategies were compared, with similar setpoints to those used in manufacture process.

Resumen: Este artículo presenta una aplicación eficiente de un control por modelo de referencia sobre un robot paralelo. Dicho tipo de robots tienen como ventaja principal su precisión y gran velocidad de movimiento. El control utilizado es un control predictivo funcional el cual hace uso de un modelo dinámico simplificado del robot. Se comparan tres estrategias de control, con consignas similares a las utilizadas en procesos de fabricación.

Keywords: Predictive Functional Control, Parallel Robotics, Computed Torque Control.