Revoluta Joints Manipulator Control Using an Equivalent Model

Resumen: This work proposes a control strategy for revoluta joints manipulators using an equivalent manipulator composed of a revoluta joint and a prismatic joint. The equivalent model allows a better characterization of the interaction between a manipulator and a mobile base, for example in an aerial manipulator. The equivalence conditions presented, allows to design the control strategy under the equivalent model representation and implement it on the real model. Through numerical simulations, the effectiveness of the proposed control system is evaluated.

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Y. E. Tlatelpa-Osorio, H. Rodriguez-Cortes, R. Cortes-Martinez & E. Aranda-Bricaire. Revoluta Joints Manipulator Control Using an Equivalent Model. Memorias del Congreso Nacional de Control Automático, pp. 109-114, 2021.

Palabras clave

Robotic Manipulator, Systems Equivalence, MANTs

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