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Control de Trayectoria de Manipulador Robótico Mitsubishi PDF
Control de Trayectoria de Manipulador Robótico Mitsubishi PDF
II.
I.
INTRODUCCION
III. LAGRANGE-EULER
Tabla DH
1=DH(1,d1,a1,1)
2T
3=DH(3,d3,a3,3)
1T
2=DH(2,d2,a2,2)
3T
4=DH(4,d4,a4,4)
0T
T 2=
0T
T 1*
2
1T
2
3
0
0
1T * 2T
4
1
2
3
4
0T = 0T * 1T * 2T * 3T
0
T 3=
1=
0R
1=
0T
0
T 1*
1(1:3,1:3)
0P
2
2
0R =0T (1:3,1:3)
3= T3(1:3,1:3)
R
0
0
4
4
0R =0T (1:3,1:3)
1=
P 2=
0T
1(1:3,4)
2(1:3,4)
3
0T (1:3,4)
4
4
0P =0T (1:3,4)
P 3=
0T
Articulacin
q1
L1
/2
q2
L2
q3+/2
/2
q4
L3
Ck 0Rk
0P
C1=0P1+0R1*C1
C2=0P2+0R2*C2
C3=0P3+0R3*C3
C4=0P4+0R4*C4
4to Paso: Matrices de Inercia de los centros de masas de cada
eslabn con respecto al referencial XkYkZk
0R
Ik
Hrot1=(0R1)xI1x(0R1)t
Hrot2=(0R2)xI2x(0R2)t
Hrot3=(0R3)xI3x(0R3)t
Hrot4=(0R4)xI4x(0R4)t
mk
Jvk
Hrotk
Jwk
H1=(Jv1)txm1x(Jv1)+ (Jw1)txHrot1x(Jw1)
H2=(Jv2)txm2x(Jv2)+ (Jw2)txHrot2x(Jw2)
H3=(Jv3)txm3x(Jv3)+ (Jw3)txHrot3x(Jw3)
H4=(Jv4)txm4x(Jv4)+ (Jw4)txHrot4x(Jw4)
9no Paso: Tensor Inercial Total del robot
Ck
qk
Jv1=[C1/q1
0
0
0 ]t
2
Jv =[C2/q1 C2/q2
0
0 ]t
3
Jv =[C3/q1 C3/q2 C3/q3
0 ]t
4
Jv =[C4/q1 C4/q2 C4/q3 C4/q4]t
Hk
H=H1+H2+H3+H4
7mo Paso: Jacobiano de velocidades angulares de cada eslabn
III.B Algoritmo para Hallar
Donde:
Jw1=[1*uz0
Jw2=[1*uz0
Jw3=[1*uz0
Jw4=[1*uz0
0
2*uz1
2*uz1
2*uz1
uzk-1
0
0
3*uz2
3*uz2
0 ]t
0 ]t
0 ]t
4*uz3 ]t
V.
Donde:
ANALISIS DE
CONTROLADOR PID
Es un vector de tamao
MODELADO DE LA
DINAMICA EN SIMULINK
0.5
q2
-0.5
0
-1
-1
q2
Donde:
0.5
0.1
0.05
-0.5
q4
q1
IV.
-1
-0.05
-1.5
-2
4
t
-0.1
2
t
V.B Control PD
0.2
0
0.6
q2
q1
0.8
-0.2
0.4
-0.4
0.2
0
-0.6
-0.2
0.8
-0.4
0.6
-0.6
0.4
-0.8
0.2
0
PD
PD+G
1.5
0.4
0.2
q1
-1
4
t
q4
q3
q2
0.5
-0.2
t
0
-0.4
t
0
100
100
50
50
t
10
x 10
-4
0
-1
-50
-50
x 10
PD
PD+G
T4
-20
-5
-40
-10
0
4
t
4
t
-5
2
t
-3
T3
20
-60
q4
q3
T2
T1
5
-0.5
4
t
Torque 1
T1
20
0
-20
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
t
Torque 2
T2
100
50
0
Kp=diag([100,100,60,6])
Ki= diag([30,50,90,3])
Kd=diag([56,64,24,.8])
T3
t
Torque 3
100
0
-100
2
t
Torque 4
T4
10
0
-10
2
t
ex
error x
0.2
0
-0.2
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
t
error y
ey
2
t
error z
ez
0.5
0
-0.5
eq4
t
error q4 (rad)
2
0
-2
LaGrange
4Simechanics 5
Salida x
1
0.5
0
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
t
Salida y
0.2
0.1
0
q4
t
Salida z
0.4
0.2
0
2
1
0
3
t
ANGULO q4 (rad)
LaGrange
4Simechanics 5
LaGrange
4Simechanics 5
600
400
T2
T1
Kp=diag([100,100,60,6])
Ki= diag([30,50,90,3])
Kd=diag([56,64,24,.8])
-5
10
t
20
100
0
x 10
10
t
20
10
t
20
-3
T4
150
T3
200
50
-2
10
t
-4
20
Y el controlador PD:
function y = fcn(u)
y=zeros(4,1);
y(1)=0.63*cos(u);%0.653
y(2)=0.63*sin(u);
y(3)=0.002*cos(5*u)+0.305;%0.305
y(4)=0.1*u;
u=diag([1000,990,800,800])*(eq)+diag([30,30,40,30])*(eqp)
TRAYECTORIA REAL
TRAYECTORIA
0.5
0.31
0.4
0.308
0.3
0.306
0.2
0.304
0.1
1
0.302
1
0.5
0.5
1
0.5
0.5
-0.5
-1
-1
y
x
-0.5
-0.5
-0.5
-1
-1
60
600
40
400
T2
T1
20
200
0
-20
0
0
10
-200
15
t
5
100
15
x 10
10
15
-3
T4
T3
10
t
150
50
-5
0
-50
10
-10
15
COMPARACION DE TRAYECTORIAS
0.5
0.4
REFERENCES
0.3
[1]
[2]
0.2
[3]
[4]
0.1
1
0.5
1
0.5
-0.5
y
-0.5
-1
-1
[5]
[6]
[7]
10