Obtención de un Modelo Dinámico para un Robot 3RRR Basado en Teoría de Screws

  1. Serrano, Fernando E.
  2. Rodriguez, Benigno A.
  3. Cardona, Manuel
Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2018

Volumen: 15

Número: 4

Páginas: 384-390

Tipo: Artículo

DOI: 10.4995/RIAI.2018.8725 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resumen

In this article a technique to obtain a dynamic model of a 3RRR robot from its kinematic model based on screw theory is proposed, which allows to obtain the open or closed robot kinematics. First the kinematic model is obtained in a compact form and then the dynamic model is obtained from the Euler Lagrange method, with this the simplicity and compactness characteristics are transferred to the dynamic model. The dynamic model is obtained initially for the actuated joints and then for the effector coordinates through its interrelations. To prove the effectiveness of this theoretical derivation the obtained model is tested with a proportional-derivative controller (PD) because it provides a simple control strategy that can be extended later to more effective controllers.

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