En este capítulo se tratan métodos

En este capítulo se tratan métodos para generar las actuaciones que permiten controlar las articulaciones de un robot manipulador. En primer lugar, se presentan las diversas estrategias de control. A continuación, se contempla el control desacoplado de las articulaciones. En el tercer apartado, se estudia el control basado en un modelo, presentándose la técnica dcl par computado. En los apartados cuarto y quinto se introducen las técnicas de control adaptativo y control con aprendizaje. En el quinto apartado. se tratan las técnicas de control en el espacio cartesiano. Finalmente, se introdu¬ce el control de esfuerzos. En este capítulo también se utiliza MATLAB y Simulink para simular las estrategias de control.

Kết quả (Anh) 1:

in this chapter discusses methods for generating the actions that control the joints of a robot manipulator. First, are the various control strategies. then contemplates decoupled control joints. in the third section, we study the model-based control, presenting the computed torque technique dcl.in fourth and fifth paragraphs are introduced adaptive control techniques and learning control. in the fifth section. treated control techniques in Cartesian space. finally intro ¬ ce control efforts. in this chapter is also used matlab and simulink to simulate control strategies.

Kết quả (Anh) 2:

This chapter discusses methods to generate the actions that allow you to control the joints of a robot manipulator. In the first place, presents the various control strategies. Then it covers control disengaged from the joints. In the third paragraph, we studied the control based on a model, presenting the technical DCL computed torque.In the fourth and fifth paragraphs are entered the adaptive control techniques and control with learning. In the fifth paragraph treat monitoring techniques in the cartesian space. Finally, it is substan¬ec control efforts. In this chapter is also used MATLAB and Simulink to simulate the control strategies.