Control Desacoplado de Plataforma Neumática de 3-GDL utilizada como Simulador de Movimiento

摘要

In this paper the kinematics analysis and decoupled control scheme in joint space is development of a three degree of freedom parallel robot actuated by pneumatic actuators; the robot is used as motion simulator. A brief description of robot is done and after that the set of equations based on vectorial formulation is obtained in order to describe the inverse kinematics of robot. The analytic kinematics relations are validated by simulation combining Matlab with Adams package software. The decoupled control scheme is proposed for each actuated joints, where the desired joints positions are computed by the inverse kinematics equations. The control loops in joint space are implemented in three degree of freedom parallel robot in application of position control. Finally, the experimental results are shown to probe the effectiveness of kinematics control scheme in terms of system performance.