Diseño de un sistema de control y observador de estado para una mano articulada


Authors

  • Jason Edwin Molina
  • Didier Giraldo Buitrago

Abstract

En este documento se realiza el diseño de un algoritmo de control digital para una mano articulada, partiendo de un modelo para una articulación que consiste de un músculo artificial movido por un servomotor, acoplado a un sistema mecánico. Se realiza un algoritmo de control usando realimentación del estado del sistema de la articulación, el cual es de tercer orden. Las variables de estado son estimadas usando un observador de estado y el comando de referencia se diseña utilizando un modelo de servo.

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Published

2006-01-12

How to Cite

Molina, J. E., & Buitrago, D. G. (2006). Diseño de un sistema de control y observador de estado para una mano articulada. Scientia Et Technica, 3(32). Retrieved from https://ojs2.utp.edu.co/index.php/revistaciencia/article/view/6223

Issue

Vol. 3 No. 32 (2006)

Section

Eléctrica

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Copyright (c) 2017 Scientia et technica

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