Información del artículo
Resumen
Este trabajo presenta el desarrollo y la validación de una metodología que permite el modelado y la resolución del problema dinámico en tiempo real de robots manipuladores. La ecuación dinámica del robot está basada en la ecuación de movimiento de Gibbs-Appell, proporcionando un conjunto de ecuaciones bien estructuradas que pueden ser calculadas en tiempo real.
El artículo aborda el cálculo e implementación del problema dinámico directo e inverso de robots, aplicándose al control en tiempo real de un robot industrial PUMA 560 equipado con una arquitectura abierta de control basada en un computador personal industrial.
Palabras clave:
sistemas robotizados
control de robots
ecuaciones de Gibbs-Appell
dinámica inversa
control por computador
aplicaciones digitales de computación
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