Title :
Creation of a Simulator to Evaluate the Performance Index of Control Structures Applied to a Robot of Two Degrees of Freedom
Author :
Cebada-Reyes, J.G. ; Sanchez-Sanchez, P. ; Michua-Camarillo, A. ; Reyes-Cortés, F. ; López-Pérez, E.
Author_Institution :
Autonomous Univ. of Puebla, Puebla
fDate :
Sept. 30 2008-Oct. 3 2008
Abstract :
The main objective of this paper is to introduce a simulation platform in order to evaluate a control structures using the performance index; additionally, the simulator has the capacity of described the behavior of the prototype according to the control structure that is evaluated showing the results in graphical form.
Keywords :
force control; manipulators; performance index; control structures; force control; graphical form; industrial manipulators; industrial robots; performance index; Analytical models; Atmospheric modeling; Dynamic programming; Equations; Force control; Lagrangian functions; Mathematical model; Performance analysis; Robots; Virtual prototyping;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08
Conference_Location :
Morelos
Print_ISBN :
978-0-7695-3320-9
DOI :
10.1109/CERMA.2008.101
