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

页码：23 / +

页数：2

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