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Control de Robots
Control de Robots
Practica Calificada 01
Docente:
MACHUCA MINES, José Ambrosio
Integrantes:
27/04/2022
RESUMEN
El objetivo del presente trabajo es obtener las ecuaciones de la dinámica de un robot ,
además de acoplarlas con las ecuaciones de modelado de un motor DC, para obtener
un modelo de un brazo robótico de cuatro grados de libertad con motores DC.
OBJETIVO
Marco Teórico
MODELO DE MOTOR DE CORRIENTE DIRECTA
Aplicaciones de los motores de corriente continua (DC):
revolución 1
prismática 1
revolución 2
revolución 3
1articulación prismática.
Procedimiento
Motor 1:
τ 1 T (t)=τ 1 m (t)+n1 τ 1 L ( t ) +τ 1 N ( t )
ϴ̈1 m (t ) ϴ̇1 m ( t )
τ 1 T (t)=J 1 m + B1 m + n1 τ 1 L ( t ) +τ 1 N (t )
n1 n1
Motor 2:
τ 2T (t)=τ 2 m (t)+n2 τ 2 L ( t ) + τ 2 N ( t )
τ 3 T (t)=τ 3 m (t)+n 3 τ 3 L ( t )+ τ 3 N ( t )
ϴ̈ 3 m (t ) ϴ̇3m ( t )
τ 3 T (t)=J 3 m + B3 m +n 3 τ 3 L ( t )+ τ 3 N ( t )
n3 n3
Motor 4:
τ 4 T (t )=τ 4 m (t)+n 4 τ 4 L ( t )+ τ 4 N ( t )
τ 4 m (t)=J 4 m ϴ̈4 m (t )+ B 4 m ϴ̇ 4 m ( t )
ϴ̈4 m (t ) ϴ̇ 4 m ( t )
τ 4 T (t )=J 4 m + B4 m +n4 τ 4 L (t ) +τ 4 N ( t )
n4 n4
2.Subsistema eléctrico:
- Motor 1:
d
V 1 m (t)=R1 m i 1 m (t )+ L1 m i ( t ) +e 1 b ( t )
dt 1 m
V 1 m (t)=A 1 u 1(t)
A1 u1 (t)=R 1m i 1 m (t)+e 1 b ( t ) ; L1 m ≈ 0
Acoplamiento electromecánico:
e 1 b ( t )=K 1 b ϴ̇1 m ( t )
τ 1 T (t)=K 1 m i 1 m (t)
Dinámica integrada del motor:
ϴ̈ 1 L (t) ϴ̇ ( t )
K 1 m i1 m ( t )=J 1 m + B1 m 1 L +n1 τ 1 L ( t ) +τ 1 N ( t )
n1 n1
A1 u1 ( t )=R1 m J 1 m( ϴ̈1 L ( t )
K 1mn1
ϴ̇ ( t ) n
+ B1 m 1 L + 1 τ 1 L ( t ) +
K 1 m n1 K 1 m
1
K1m ) ϴ̇ ( t )
τ1N (t ) + K1b 1L
n1
u1 ( t ) =
R1 m
A1 (
J1m
ϴ̈1 L (t )
K 1 m n1
+ B1 m
ϴ̇1 L ( t ) n1
+
K 1m n1 K 1 m
τ1L (t )+
1
K 1m
τ1N (t ) +
K1b
) ϴ̇ ( t )
A 1 n1 1 L
- Motor 2:
d
V 2 m (t )=R2 m i 2 m (t )+ L2 m i ( t ) + e2 b ( t )
dt 2 m
V 2 m (t)=A 2 u 2 (t)
A2 u2 (t)=R 2 m i 2 m (t)+e 2 b ( t ) ; L2 m ≈ 0
Acoplamiento electromecánico:
e 2 b ( t )=K 2b ϴ̇2 m (t )
τ 2T (t)=K 2m i 2 m (t)
Dinámica integrada del motor:
ϴ̈ 2 L (t) ϴ̇ ( t )
K 2 m i2 m ( t )=J 2 m + B 2m 2 L +n2 τ 2 L ( t ) + τ 2 N ( t )
n2 n2
A2 u2 ( t )=R 2m J 2 m( ϴ̈ 2 L ( t )
K 2 m n2
ϴ̇ (t ) n
+ B2 m 2 L + 2 τ 2 L ( t ) +
K 2 m n2 K 2 m
2
K 2m ) ϴ̇ ( t )
τ 2 N ( t ) + K 2b 2 L
n2
u2 ( t ) =
R2 m
A2 (
J2m
ϴ̈2 L ( t )
K 2 m n2
+B 2m
ϴ̇2 L ( t ) n2
K2mn2 K 2m
+ τ2 L (t)+
2
K2m
τ 2N (t ) +
K 2b
)ϴ̇ ( t )
A2 n2 2 L
- Motor 3:
d
V 3 m (t )=R3 m i3 m (t )+ L3 m i ( t )+ e 3b ( t )
dt 3m
V 3 m (t )=A 3 u3 (t)
A3 u3 (t)=R3 m i 3 m (t )+ e3 b ( t ) ; L3 m ≈ 0
Acoplamiento electromecánico:
e 3 b (t )=K 3 b ϴ̇ 3 m ( t )
τ 3 T (t)=K 3 m i 3 m (t)
Dinámica integrada del motor:
ϴ̈ 3 L (t) ϴ̇ ( t )
K 3 m i 3m ( t )=J 3 m + B3 m 3 L + n3 τ 3 L ( t ) +τ 3 N ( t )
n3 n3
A3 u3 ( t )=R 3 m J 3 m
( ϴ̈ 3 L ( t )
K 3 m n3
ϴ̇ ( t ) n
+B 3 m 3 L + 3 τ 3 L ( t )+
K 3 m n3 K 3 m
3
K3m
ϴ̇ ( t )
τ3N (t ) + K 3b 3L
n3 )
u3 ( t ) =
R 3m
A3 (
J3m
ϴ̈ 3 L ( t )
K 3mn3
+ B3 m
ϴ̇3 L ( t ) n3
+
K 3 m n3 K 3 m
τ 3 L (t ) +
3
K3m
τ3 N (t) +
K 3b
ϴ̇ ( t )
A3n3 3L )
- Motor 4:
d
V 4 m (t )=R 4 m i 4 m (t)+ L4 m i ( t ) +e 4 b ( t )
dt 4 m
V 4 m (t )= A 4 u4 (t )
A 4 u 4 (t)=R 4 m i 4 m (t )+ e 4 b ( t ) ; L4 m ≈ 0
Acoplamiento electromecánico:
e 4 b ( t )=K 4 b ϴ̇4 m ( t )
τ 4 T (t )=K 4 m i 4 m ( t)
Dinámica integrada del motor:
ϴ̈ 4 L (t) ϴ̇ 4 L ( t )
K 4 m i 4 m ( t )=J 4 m + B4 m + n4 τ 4 L ( t ) +τ 4 N ( t )
n4 n4
(
A 4 u 4 ( t )=R 4 m J 4 m
ϴ̈ 4 L ( t )
K 4 m n4
+ B4m
ϴ̇ 4 L ( t ) n4
+
K 4 m n4 K 4 m
τ 4 L (t ) +
4
K4m
τ4 N (t ) + K4b
ϴ̇4 L (t )
n4 )
u 4 ( t )=
R4 m
A4 ( ϴ̈ ( t ) ϴ̇ ( t ) n
J 4m 4L + B4m 4L + 4 τ 4L (t )+
K4 mn4 K 4 mn4 K 4m
4
K 4m
K
τ 4 N ( t ) + 4 b ϴ̇4 L ( t )
A 4 n4 )
3.Para el acoplamiento de las ecuaciones de la dinámica del motor con la dinámica del robot
de 4G.D.L se realizan las siguientes ecuaciones:
- Motor 1:
- Motor 2:
ϴ2 L ( t ) ≡ q 2 ( t ); ϴ̇2 L ( t ) ≡ q̇ 2 ( t ) ; ϴ̈2 L (t ) ≡ q̈ 2 ( t ) ; τ 2 T ( t ) ≡ τ 2 ( t ) ; τ 2 N (t )≈ 0
- Motor 3:
- Motor 4:
ϴ4 L ( t ) ≡ q4 ( t ); ϴ̇4 L ( t ) ≡ q̇4 ( t ) ; ϴ̈ 4 L ( t ) ≡ q̈ 4 ( t ) ; τ 4 T ( t ) ≡τ 4 (t ) ; τ 4 N (t )≈ 0
- Motor 1:
u1 ( t ) =
R1 m J 1 m
A 1 K 1 m n1
q̈ 1 ( t )+
(
R1 m B1 m
A 1 K 1m n1 ) n R
q̇ 1 ( t )+ 1 1 m τ 1 (t )
A1 K 1 m
u1 ( t ) =
Rm 1 J m 1
A1 K m 1 n1
q̈ 1( t)+
(
Rm 1 B m1 K
A 1 K m 1 n1 A 1 n1
n R
+ b 1 q̇ 1 (t)+ 1 m 1 ¿
A1 K m 1) ( )
- Motor 2:
u2 ( t ) =
R2 m J 2 m
A 2 K 2 m n2
q̈ 2 ( t )+
(
R2 m B 2m
A2 K 2 m n 2 ) n R
q̇ 2 ( t ) + 2 2 m τ 2 (t)
A2 K2m
u2 ( t ) =
Rm 2 J m 2
A 2 K m 2 n2
q̈ 2 (t)+
(Rm 2 B m 2
+
Kb2
A 2 K m 2 n2 A 2 n2 )
q̇2 (t)+
n2 R m 2
A2 Km2
¿*q¨1 ¿ /2 +¿*
∂ ∂ ∂
[ d ( q )∗q˙2+ d ( q )∗q̇3 + d ( q )∗q˙4 ]¿/2+ (d 21 ( q )*q¨1)/2 + (q˙1*
∂ q 2 12 ∂ q 3 12 ∂ q4 12
∂ ∂ ∂
[ d 21 ( q )∗q˙2 + d 21 ( q )∗q̇3 + d ( q )∗q˙4 ]¿ /2 + (d 22 ( q )*q¨2 ¿ + (q˙2*
∂ q2 ∂q 3 ∂ q4 21
∂ ∂
[ d 22 ( q )∗q̇3 + d ( q )∗q˙4 ] ¿ + (d 23 ( q ) *q¨3)/2 + (q˙3*[0]¿/2 + (d 24 ( q ) *q¨4 )/2 + (q˙4 *
∂ q3 ∂ q4 22
∂ ∂
[ d 24 ( q )∗q˙4 ]¿/2 + (d 32 ( q )*q¨3 ¿ /2 + (q˙3*[0]¿/2 + (d 42 ( q ) *q ¨4 ¿ ¿/2 + (q˙4 *[ d ( q )∗q˙4 ]¿
∂ q4 ∂ q 4 42
/2- {q̇ 1^2m2q2 + q̇ 1^2m3q2 + q̇ 1^2m4q2 + (L3q̇ 1^2*m3*C3)/2 + (q̇ 1^2m3wS3)/2 + q̇ 1^2m4wS3 + (L4^2
q̇ 1 q̇ 4 m4C2)/12 - (q̇ 4^2m4r4^2C2S2)/4 + (q̇ 1 q̇ 4 m4r4^2C2)/4 + (L4q̇ 1^2m4C4S3)/2 - (L4q̇ 1 q̇ 4 m4C4)/2 +
(L4^2q̇ 4^2m4C2S2)/12 - (L4^2q̇ 4 ^2m4C2C4^2S2)/12 + (q̇ 4 ^2m4r4^2C2C4^2S2)/4 - (L4^2q̇ 4
^2m4C3C4S2^2S4)/12 - (q̇ 4 ^2m4r4^2C2^2C3C4S4)/4 + (q̇ 4 ^2m4r4^2C3C4S2^2S4)/4 - (L4^2q̇ 4
^2m4C2C3^2C4^2S2)/12 - (L4^2q̇ 1 q̇ 4 m4C2C3^2C4^2)/12 + (q̇ 4 ^2m4r4^2C2C3^2C4^2S2)/4 + (q̇ 1*q̇ 4
m4r4^2C2C3^2C4^2)/4 + (L4^2q̇ 4^2m4C2^2C3C4S4)/12 - (L4^2q̇ 2 q̇ 4 m4C2C3C4^2*S3)/12 + (q̇ 2*q̇ 4
m4r4^2C2C3C4^2S3)/4 - (L4^2q̇ 1 q̇ 4 m4C3C4S2S4)/12 - (L4^2q̇ 2 q̇ 4 m4C4S2S3S4)/12 + (q̇ 1 q̇ 4
s v
m4r4^2C3C4S2S4)/4 + (q̇ 2 q̇ 4 m4r4^2C4S2S3S4)/4} + sgn ( q̇2 ) b 2+b 2 q̇2 ¿
- Motor 3:
u3 ( t ) =
R3 m J 3 m
A 3 K 3 m n3 (
q̈3 ( t ) +
R 3 m B3 m
)
A 3 K 3 m n3
q̇ 3 ( t )+
n3 R 3 m
τ (t)
A3 K 3 m 3
u3 ( t ) =
Rm 3 Jm3
A 3 K m 3 n3
q̈3 (t)+
(
R m 3 Bm 3
+
K b3
A 3 K m 3 n3 A 3 n3 )
q˙3 (t)+
n3 R m 3 R 3
A3 K m3
¿*q¨1 ¿ /2 +¿*
∂ ∂
[ d 13 ( q )∗q̇2 + d ( q )∗q˙4 ]¿ /2+ (d 23 (q)*q¨2)/2 + (q˙2*[0]¿/2 + (d 31 (q)*q¨1 ¿ /2 + (q˙1*
∂ q2 ∂ q4 13
∂ ∂
[ d 31 ( q )∗q˙2+ d ( q )∗q˙4 ]¿/2 + (d 32 (q)*q¨2)/2 + (q˙2*[0]¿/2 + (d 33 (q)*q¨3) + (q˙3*[0]¿ +
∂ q2 ∂ q 4 31
∂ ∂
(d 34 (q )*q¨4 ¿/2 + (q˙4 *[ d ( q )∗q˙4 ]¿/2 + (d 43 (q )*q ¨4 ¿ ¿/2 + (q˙4*[ d ( q )∗q˙4 ] ¿/2+(q˙1
∂ q 4 34 ∂ q 4 43
^2m3w^2C3S3)/3 - (L4^2 q˙11 q˙4m4C3)/4 + q˙1^2m4w^2C3S3 - (q˙2^2m3w^2C3S3)/12 - (L3 q˙1
^2m3q2S3)/2 + (q˙1^2m3q2wC3)/2 + q˙1^2m4q2wC3 + (L3^2 q˙1 q˙2m3C(2q3))/12 + (L3 q˙1
^2m3wC(2q3))/4 - (q˙1 q˙2m3w^2C(2q3))/12 - (L3 q˙2 q˙3m3C(q3))/2 - (q˙2 q˙3m3wS3)/2 - q˙2 q˙3
m4wS3 - (L3^2 q˙1^2m3C3S3)/3 + (L3^2 q˙2^2m3C3S3)/12 + (L1L3 q˙1 q˙3m3C3)/2 + (L4^2 q˙1
^2m4C3C4^2S3)/3 - (L4^2q˙2^2m4C3C4^2S3)/12 + (L4^2 q˙4 ^2m4C3C4^2S3)/12 + (L1 q˙1 q˙3
m3wS3)/2 + L1 q˙1 q˙3m4wS3 - (q˙1^2m4r4^2C3C4^2S3)/4 + (q˙2^2m4r4^2C3C4^2S3)/4 - (q˙4
^2m4r4^2C3C4^2S3)/4 - (L4 q˙2 q˙3m4C4S3)/2 - (L4 q˙2 q˙2m4C3S4)/2 - (L4^2 q˙1 q˙2
m4C3^2C4^2)/12 + (L4^2 q˙1 q˙2m4C4^2S3^2)/12 + (q˙1 q˙2m4r4^2C3^2C4^2)/4 - (q˙1 q˙2
m4r4^2C4^2S3^2)/4 + (L4q˙1^2m4q2C3C4)/2 - (L4q˙1 q 4 m4wC3C4)/2 - (L4q˙1 q˙3m4wS3S4)/2 -
(L4^2q˙4 ^2m4C2^2C3C4^2S3)/12 + (q˙4 ^2m4r4^2C2^2C3C4^2S3)/4 - (L4^2q˙2 q˙4
m4C3^2C4^2S2)/12 + (L4^2q˙2 q˙4 m4C4^2S2S3^2)/12 + (q˙2 q˙4 m4r4^2C3^2C4^2S2)/4 - (q˙2 q˙4
m4r4^2C4^2S2S3^2)/4 - (L4^2q˙1 q˙3m4C4S3S4)/4 + L4q˙1^2m4wC3C4S3 + (L1L4q˙1 q˙3m4C4S3)/2
+ (L1L4q˙1 q˙4 m4C3S4)/2 + (L4^2q˙1 q˙4 m4C3C4^2S2S3)/6 - (q˙1 q˙4 m4r4^2C3C4^2S2S3)/2 - (L4^2q˙4
^2m4C2C4S2S3S4)/12 + (L4^2q˙2 q˙4 m4C2C3C4S4)/12 - (L4^2q˙1 q˙4 m4C2C4S3S4)/12 + (q˙4
^2m4r4^2C2C4S2S3S4)/4 - (q˙2 q˙4 m4r4^2C2C3C4S4)/4 + (q˙1 q˙4 m4r4^2C2C4S3S4)/4 + (-
s v
g(m4(wS3 + (L4C4S3)/2) + m3((L3C3)/2 + (wS3)/2))) + b 3 ( q̇ 3 ) + sgn ( q̇3 ) b 3+ b3 q̇3 ¿
- Motor 4:
u 4 ( t )=
R4 m J 4 m
A 4 K 4 m n4 (
q̈4 ( t )+
R 4 m B4 m
A 4 K4 mn4 )
q̇ 4 (t ) +
n4 R 4 m
A4 K4m 4
τ (t )
u 4 ( t )=
Rm 4 J m 4
A 4 K m 4 n4 (
q̈4 ( t)+
R m 4 Bm 4
+
K b4
A4 K m 4 n4 A 4 n4 ) q̇ 4 (t )+
n4 Rm4
A4 K m4
¿ *q¨1 ¿ /2 +¿*
∂ ∂ ∂
[ d 14 ( q )∗q̇2 + d14 ( q )∗q˙3+ d ( q )∗q˙4 ]¿ /2+ (d 24 (q )*q¨2)/2 + (q˙2*
∂ q2 ∂ q3 ∂ q 4 14
∂ ∂
[ d 24 ( q )∗q˙4 ]¿/2 + (d 34 (q )*q¨3 ¿ /2 + (q˙3*[ d ( q )∗q˙4 ]¿/ 2 + (d 41 (q)*q¨1)/2 + (
∂ q4 ∂ q 4 34
∂ ∂ ∂
q˙1*[ d 41 ( q )∗q̇2 + d 41 ( q )∗q̇ 3+ d ( q )∗q˙4 ]¿/2 + (d 42 (q)*q¨2)/2 + (q˙2*
∂ q2 ∂ q3 ∂ q 4 41
∂ ∂
[ d ( q )∗q˙4 ]¿/ 2 + (d 43 (q )*q¨3 ¿ /2 + (q˙3*[ d ( q )∗q˙4 ]¿/2 + (d 44 (q)*q ¨4 ¿ ¿ + (
∂ q 4 42 ∂ q 4 43
q˙4 *[0]¿+ (L4q˙1 q˙2m4C4)/2 - (L4q˙1^2m4wS4)/2 - (L4q˙3^2m4wS4)/2 - (q˙2
^2m4r4^2C4S4)/4 + (L4^2q˙2^2m4C4S4)/12 - (L4^2q˙3^2m4C4S4)/4 - (L1L4q˙1^2m4C4)/2
- (L4q˙1^2m4q2S3S4)/2 + (L4^2q˙1^2m4C3^2C4S4)/3 - (L4^2q˙2^2m4C3^2C4S4)/12 -
(L4^2q˙4 ^2m4C2^2C4S4)/12 + (L4^2q˙4 ^2m4C3^2C4S4)/12 + (L4q˙1 q˙4 m4q2S4)/2 + (L4^2
q˙1 q˙3m4C3C4^2)/4 - (q˙1^2m4r4^2C3^2C4S4)/4 + (q˙2^2m4r4^2C3^2C4S4)/4 + (q˙4
^2m4r4^2C2^2*C4*S4)/4 - (q˙4 ^2m4r4^2C3^2C4S4)/4 - (L4^2q˙1 q˙3m4C3S4^2)/4 + (L4
q˙1^2m4wC3^2*S4)/2 - (L4q˙2 q˙3m4C3S4)/2 - (L4q˙2 q˙4 m4C4S3)/2 + (L4q˙1 q˙3m4wC3C4)/2
- (L4^2q˙4 ^2m4C2C3S2S4^2)/12 + (L4^2q˙1 q˙4 m4C2C3C4^2)/12 + (L4q˙1 q˙4 m4wS3S4)/2 -
(q˙4 ^2m4r4^2C2C3C4^2S2)/4 - (L4^2q˙1 q˙4 m4C2C3S4^2)/12 + (L4^2q˙2 q˙4
m4C2C4^2S3)/12 + (q˙4 ^2m4r4^2C2C3S2S4^2)/4 - (L4^2q˙2 q˙4 m4C2S3S4^2)/12 - (q˙1 q˙4
m4r4^2C2C3C4^2)/4 + (q˙1 q˙4 m4r4^2C2C3S4^2)/4 - (q˙2 q˙4 m4r4^2C2C4^2S3)/4 - (L4^2*
q˙4 ^2m4C2^2C3^2C4S4)/12 + (q˙2 q˙4 m4r4^2C2S3S4^2)/4 + (q˙4
^2m4r4^2C2^2C3^2C4S4)/4 + (L1L4q˙1 q˙3m4C3S4)/2 + (L1L4q˙1 q˙4 m4C4S3)/2 + (L4^2q˙4
^2m4C2C3C4^2S2)/12 + (L4^2q˙1 q˙4 m4C3^2C4S2S4)/6 - (q˙1 q˙4 m4r4^2C3^2C4S2S4)/2 +
(L4^2q˙1 q˙2m4C3C4S3S4)/6 - (q˙1 q˙2m4r4^2C3C4S3S4)/2 + (L4^2q˙2 q˙4 m4C3C4S2S3S4))/6
s v
- (q˙2 q˙4 m4r4^2C3C4S2S3S4))/2+(-(L4*g*m4*C3*S4)/2)+ sgn ( q̇ 4 ) b4 + b4 q̇ 4 ¿
5. Finalmente se obtiene uT :
uT =u1 +u2 +u3
u ( t )=
R 1m J 1 m
A 1 K 1 m n1 (
q̈ 1 ( t ) +
R1 m B 1 m
A1 K 1 m n 1 )
q̇ 1 ( t ) +
n 1 R1 m
A1 K1m 1
τ ( t )+ ¿
R 2m J2 m
A 2 K 2 m n2
q̈2 (t ) +
(
R 2m B2 m
A 2 K 2 m n2 )
q̇2 ( t ) +
n2 R 2 m
τ ( t ) +¿
A2 K 2 m 2
R 3m J3 m
A 3 K 3m n3 (
q̈3 ( t ) +
R 3 m B3 m
)
A 3 K 3 m n3
q̇ 3 ( t ) +
n3 R 3 m
A3 K3m 3
τ (t)+¿
R4 m J 4 m
A4 K4m n4 (
q̈ 4 ( t ) +
R4 m B4 m
A4 K 4 m n4) n R
q̇4 ( t ) + 4 4 m τ 4 (t)
A4 K4m
CONCLUSIONES
Al desarrollar este modelo de forma física , se debe tener en cuenta factores como :
Masa de las articulaciones y capacidad del motor.
Los cálculos realizados se hicieron con ayuda del software Matlab , el cual nos permitió
desarrollar los cálculos de forma más rápida .
BIBLIOGRAFIA
Machuca, J. A. (2021), Aplicación dinámica del robot esférico.