Control para seguimiento de trayectorias cartesianas en robots manipuladores

En este artículo se aborda el control cartesiano para seguimiento de trayectorias en robots manipuladores. Las trayectorias deseadas se proponen en espacio cartesiano. Mediante la cinemática inversa se obtienen las trayectorias deseadas en espacio articular; a partir de la cinemática diferencial, se obtiene el jacobiano el cual sirve para obtener las velocidades y aceleraciones articulares deseadas. El modelo dinámico se obtiene mediante las ecuaciones de movimiento de Euler-Lagrange. El objetivo de seguimiento de trayectorias en el espacio cartesiano o articular se logra utilizando solamente mediciones de posición como retroalimentación, por lo que se omite el uso de filtros y observadores de velocidad. Se prueba estabilidad asintótica global en el sentido de Lyapunov para el caso de trayectorias articulares y estabilidad asintótica local para trayectorias en espacio cartesiano. Se ilustran los resultados mediante simulaciones numéricas en un robot de dos grados de libertad y la validación experimental en un robot SCARA.

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