Fractional Order Model and Factional Order Control for 1, 2 and 3 DOF Robot Arm in STM32L476 Development Board

Resumen: The Fractional-Order Calculus is applied to the dynamic-model of robotic arms of 1, 2 and 3 Degree-of-freedom. In general the arm robots present error in steady statem, this error is explained due to nonlinear effects in friction, however this document proposes an explanation based on the dynamic-model of fractional-order, in addition the control algorithm implemented is the fractional-order proportional-derivative (PD) control, both the dynamic model and the fractional order control are implemented in an STM32L476RG development board, using the analog outputs the signals are sent to an oscilloscope and a series of points are displayed that draw the letters “H” “O” “L” “A”. The results obtained are concordant with the expected in the theoretical objective of this work.

¿Cómo citar?

Ceron-Morales. Israel. Fractional Order Model and Factional Order Control for 1, 2 and 3 DOF Robot Arm in STM32L476 Development Board. Memorias del Congreso Nacional de Control Automático, pp. 688-693, 2019.

Palabras clave

Robótica y Mecatrónica, Control de Sistemas No Lineales, Educación en Control

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