Resumo

URQUIJO PASCUAL, Orlando; IZAGUIRRE CASTELLANOS, Eduardo  e  HERNANDEZ SANTANA, Luis. Tracking task space control of 2DOF parallel robot using vectorial kinematic model. EAC [online]. 2017, vol.38, n.2, pp. 72-82. ISSN 1815-5928.

In this paper, the kinematic task space control scheme of 2DOF pneumatic parallel robot is developed in order to solve the trajectory tracking problem in industrial application of motion simulator. The control system take into account a two loops cascade, an internal loop that solves the decoupled joint control and the external loop implemented in the task space control in order to solve de trajectory tracking specifications. The kinematic model by vectorial formulation is used without the need of a dynamic model of a robot. In order to solve the trajectory tracking problem, the desired input is feed-forwarded according to the specific condition of the digital implementation in the kinematic task space control scheme. To illustrate the performance of the proposed control scheme, experimental results obtained through several test with the parallel robot of 2 DOF are presented. Experimental results confirm the expected tracking response in the task space, showing adequate performance.

Palavras-chave : Parallel robot; tracking control; task space control.

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