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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 | |
| Aparece en las colecciones: | Resúmenes de Memorias de Congresos |
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| Fichero | Tamaño | Formato | |
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| Comparacion en la respuesta de los metodos CIERMII Abstract 2018.pdf | 315.28 kB | Adobe PDF | Visualizar/Abrir |