Please use this identifier to cite or link to this item: http://ciateq.repositorioinstitucional.mx/jspui/handle/1020/333
Comparación en la respuesta de los métodos de sintonización de la curva de reacción de Ziegler-Nichols y optimización computacional aplicados al control de un robot tipo SCARA
Comparison in the response of the tuning methods of the Ziegler-Nichols reaction curve and computational optimization applied to the control of a SCARA type robot
Martin Eduardo Rodriguez Franco
Yadira Fabiola Lopez Alvarez
Ricardo Jara Ruiz
Rene Moreno Frias
Acceso Abierto
Atribución-NoComercial-CompartirIgual
9786078534746
http://www.ecorfan.org/manuales/CIERMII2018/Abstract_Collection_CIERMII_18.pdf
SCARA Robot
Ziegler-Nichols tuning
Computational optimization
The present work shows the results obtained during the operation of a robotic arm in SCARA configuration. To obtain the transference function of the joint systems, the MATLAB software was used, based on an analysis of the feedback data given; applying to the determined models, the method of tuning the Ziegler-Nichols reaction curve for the establishment of the gain values of each PID controller used,which was applied in the manipulation of each joint of the robot. The results show a percentage lower than 2% of error in the final positioning of each articulation with respect to the requested value, for which the use of the computational optimization method is also proposed to obtain more efficient gain values in the controllers used for each system, with a percentage of 0.1% error; this with the purpose of granting and maintaining an adequate stability of the total robotic system.
Colegio de Ingenieros en Energías Renovables de Querétaro, A. C.
ECORFAN México
2018
Ítem publicado en memoria de congreso
Abstracts collection. Congreso Interdisciplinario de Energías Renovables,- Mantenimiento Industrial, Mecatrónica e Informática. Colegio de Ingenieros en Energías Renovables de Querétaro A.C. (Octubre 25-26, 2018)
Español
Público en general
ENERGÍA
Versión publicada
publishedVersion - Versión publicada
Appears in Collections:Resúmenes de Memorias de Congresos

Upload archives