DISE~NO DE UNA LEY DE CONTROL PARA EL SEGUIMIENTO DE TRAYECTORIAS DE UN ROBOT MANIPULADOR

Abstract

This work is concerned with the trajectory tracking of a 2-degree of freedom robotic arm. This task is solved by using a PD plus feedforward controller. The position of the robot end e®ector is controlled indirectly through the precise control of the angular positions at the robot joints. A literature review on the subject is ¯rst presented. Then the objectives of the work are given, and the methodology used to solve the problem is described. The kinematic and dynamic models of the robotic arm under study are reviewed. A previous pre- sentation of the global stability result on PD plus feedforward control for trajectory tracking of robotic arms is studied. The corresponding stability conditions are used as a criterion to select the controller gains. A simulation study is performed using Matlabr- Simulinkr employing the kinematic and dynamic models of the robot under study. Several experimental results are presented which were performed using a DS1104 board from dSPACEr. Finally, some conclusions and remarks on future work are presented at the end of the document.