COORDINATED CONTROL OF A 6-DOF ROBOTIC MANIPULATOR EMPLOYING VIRTUAL MODELS OF ITS ACTUATORS

Jessica Villalobos (2023, [Tesis de doctorado])

"This study proposes a scheme that combines the model reference control with the internal model control to impose a first-order behavior on the speed control system of direct current motors. This scheme is used as the internal loop to control the position of a model to use it as the reference for the physical motor.

This work also presents an inverse kinematic solution for the UR5 and algorithms to choose angles that do not lead to singularities. These algorithms can be used in independent joint control schemes such as the one proposed in this document."

Internal model control Model reference control Independent joint control Direct current motor UR5 manipulator Inverse kinematics INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS OTRAS ESPECIALIDADES TECNOLÓGICAS OTRAS OTRAS