Control and simulation of a robot of two degrees of freedom (Implementation of a new algorithm of control)

被引：0
|
作者：
Sanchez-Sanchez, Pablo [1 ]
Reyes-Cortes, Fernando [1 ]
Michua-Camarillo, Antonio [1 ]
Cid-Monjaraz, J. [1 ]
Arias, M. Angel [1 ]
机构：
[1] Univ Autonoma Puebla, INAOE, Puebla 72570, Mexico
来源：
PROCEEDINGS OF THE 7TH WSEAS INTERNATIONAL CONFERENCE ON APPLIED COMPUTER SCIENCE: COMPUTER SCIENCE CHALLENGES | 2007年
关键词：
forward and inverse kinematics; dynamic model; Simulator; parametric identification; performance index; energy shaping; visual C plus plus compiler; openGL libraries; events driver;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The objectives of this paper are to present a simulator program of a robot of two degrees of freedom and introduce a new controller scheme on joint space. The simulator is designed based on the dynamic model of the prototype and using a controller with stability proof we can locate the end-effector of the robot in a specific point. The kind of control that we use to programming the simulator is the position control type.
引用
收藏
页码：23 / +
页数：2
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