Browsing by Author "Rosero Sánchez, Christian Andrés"

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    Diseño e implementación de algortimo para control de trayectoria con compensación gravitatoria para el robot Kuka Youbot
    (Universidad Técnica de Ambato. Facultad de Ingeniería en Sistemas, Electrónica e Industrial. Carrera de Ingeniería Industrial en Procesos de Automatización, 2024-08) Rosero Sánchez, Christian Andrés; García Sánchez, Marcelo Vladimir
    This work addresses the challenge of precise trajectory tracking control in the KUKA youBot robotic manipulator, focusing on an alternative computed torque control method. The approach aims to overcome the inherent non-linearities of these systems, considering both structured (model errors) and unstructured (friction) uncertainties. The alternative method implements a cascade PI controller, combining position and velocity controllers for improved disturbance rejection. A crucial aspect is the accurate identification of dynamic model parameters, as those provided by manufacturers are often inaccurate. The work includes a detailed analysis of the semantics used in rigid body algorithms, contributing to a more precise construction of geometric relationships. Additionally, friction compensation is incorporated to enhance controller performance. The implementation of the alternative method is complemented by a safety control layer that constantly monitors the state of the joints, protecting the system's valuable hardware. The experiments conducted include validation of the dynamic model through gravity compensation tasks and controller tests with analytical trajectories. Friction modeling and compensation experiments were carried out, and the control scheme was evaluated on the joints farthest from the base. The results demonstrate that, despite inaccuracies in the dynamic model parameters, the controller achieves precise trajectory tracking with acceptable errors in the manipulator's joints. This work significantly contributes to the field of robotic control, offering valuable insights into the practical implementation of advanced controllers in complex robotic systems, particularly in handling uncertainties and optimizing performance in trajectory tracking tasks.