Identificación y control de robots paralelos en el espacio de estados con un laboratorio remoto

En este artículo se presenta un laboratorio remoto para realizar prácticas de identificación y control de dos robots paralelos reales mediante Internet. El laboratorio remoto tiene una arquitectura cliente-servidor. El cliente es una interfaz de control Java que permite comandar experimentos y visualizar los resultados en forma de gráficas y de imágenes de video en tiempo real de los robots. Por su parte, el servidor es un computador industrial que controla a los robots mediante una tarjeta de control dSPACE 1103 programada con Matlab/Simulink, y además ejecuta Jimserver y otros programas de gestión que permiten reservar y utilizar los robots de forma segura. El artículo describe e ilustra varias prácticas y experimentos que pueden realizarse con el laboratorio remoto presentado, como la identificación del modelo de estado linealizado de los robots, el diseño de reguladores integrales con realimentación del estado, o estudiar cómo las singularidades de los robots paralelos disminuyen su controlabilidad.

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