Control de posición y fuerza con estimación de masa para sistemas cooperativos

P. Sánchez-Sánchez, M. A. Arteaga-Pérez

Resumen

La manipulación cooperativa de un objeto por dos o más brazos robóticos requiere controlar tanto el movimiento del objeto como las fuerzas ejercidas por los manipuladores. En términos de cinemática y estática, el enfoque elegido se basa en la denominada formulación simétrica. Se diseña un algoritmo de control que utiliza una modificación del método híbrido de torque computarizado basado en el Principio de Ortogonalización. Además, la masa del objeto se estima calculando la fuerza aplicada por cada efector final para sostener el objeto. El método propuesto es una extensión natural del esquema de control adaptativo previamente reportado para manipuladores geométricamente restringidos. La prueba de estabilidad se desarrolla utilizando la teoría de Lyapunov. Se presentan resultados experimentales.


Palabras clave

Robots cooperativos; control adaptable; control de fuerza; restricciones holonómicas; función tangente hiperbólica

Clasificación por materias

Robótica y sistemas robotizados

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Referencias

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