Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF

El objetivo principal de este proyecto es el diseño de una metodología de identificación de parámetros y carga util en un manipulador robótico de 1-DOF y 2-DOF; esto con la finalidad de evaluar la mejora en desempeño del sistema de control al implementar la metodología de identificación de parámetro...

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Autores:: Paez Garcia, Julian Yesid
Vargas Tenjo, Laura Cristina
Charry Belén, Ricardo Andres

Tipo de recurso:: Trabajo de grado de pregrado

Fecha de publicación:: 2022

Institución:: Universidad de San Buenaventura

Repositorio:: Repositorio USB

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dc.title.spa.fl_str_mv	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
title	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
spellingShingle	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF 620 - Ingeniería y operaciones afines Identificaci´on de parámetros Identificación de carga útil Manipulador robótico de 1-DOF Manipulador robótico de 2-DOF Controlador SMC Controlador PID Indices de desempeño
title_short	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
title_full	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
title_fullStr	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
title_full_unstemmed	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
title_sort	Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF
dc.creator.fl_str_mv	Paez Garcia, Julian Yesid Vargas Tenjo, Laura Cristina Charry Belén, Ricardo Andres
dc.contributor.advisor.none.fl_str_mv	Coral Enriquez, Horacio
dc.contributor.author.none.fl_str_mv	Paez Garcia, Julian Yesid Vargas Tenjo, Laura Cristina Charry Belén, Ricardo Andres
dc.subject.ddc.none.fl_str_mv	620 - Ingeniería y operaciones afines
topic	620 - Ingeniería y operaciones afines Identificaci´on de parámetros Identificación de carga útil Manipulador robótico de 1-DOF Manipulador robótico de 2-DOF Controlador SMC Controlador PID Indices de desempeño
dc.subject.proposal.spa.fl_str_mv	Identificaci´on de parámetros Identificación de carga útil Manipulador robótico de 1-DOF Manipulador robótico de 2-DOF Controlador SMC Controlador PID Indices de desempeño
description	El objetivo principal de este proyecto es el diseño de una metodología de identificación de parámetros y carga util en un manipulador robótico de 1-DOF y 2-DOF; esto con la finalidad de evaluar la mejora en desempeño del sistema de control al implementar la metodología de identificación de parámetros y carga útil diseñada.
publishDate	2022
dc.date.issued.none.fl_str_mv	2022
dc.date.accessioned.none.fl_str_mv	2025-03-21T15:05:07Z
dc.date.available.none.fl_str_mv	2025-03-21T15:05:07Z
dc.type.spa.fl_str_mv	Trabajo de grado - Pregrado
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dc.relation.references.none.fl_str_mv	Amiot, P. and Marleau, L. (2006). M´ecanique classique ii. D´epartement de physique, de g´enie physique et d’optique. Universit´e de Laval, Qu´ebec, Canada. Becedas, J., Trapero, J., Mamani, G., Sira-Ramirez, H., and Feliu-Battle, V. (2006). A fast on-line algebraic estimation of a single-link flexible arm applied to gpi control. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, pages 85–90. Becedas, J., Trapero, J. R., Feliu, V., and Sira-Ram´ırez, H. (2009). Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 39(3):735–751. Beltr´an-Carbajal, F. and Silva-Navarro, G. (2013). Adaptive-like vibration control in mechanical systems with unknown paramenters and signals. Asian Journal of Control, 15(6):1613–1626. Beltran-Carbajal, F., Silva-Navarro, G., Sira-Ramirez, H., and Blanco-Ortega, A. (2010). Active vibration control using on-line algebraic identification and sliding modes control activo de vibraciones usando identificaci´on algebraica en l´ınea y modos deslizantes. Computacion y Sistemas, 13:313–330. Beltran-Carbajal, F., Silva-Navarro, G., and Trujillo-Franco, L. (2017). A sequential algebraic parametric identification approach for nonlinear vibrating mechanical systems. Asian Journal of Control, 19. Cambera, J. C., San-Millan, A., and Feliu-Batlle, V. (2015). Payload mass identification of a single-link flexible arm moving under gravity: an algebraic identification approach. Shock and Vibration, 2015. Chandan, S., Shah, J., Singh, T. P., Shaw, R. N., and Ghosh, A. (2021). Inverse kinematics analysis of 7-degree of freedom welding and drilling robot using artificial intelligence techniques. In Artificial Intelligence for Future Generation Robotics, pages 15–23. Elsevier. Craig, J. J. (2014). Introduction to Robotics: Mechanics and Control, volume 3. Pearson. Cruz, G. L., Alazki, H., and Hern´andez, R. G. (2018). Super twisting control for thermo’s catalyst-5 robotic arm. IFAC-PapersOnLine, 51(13):303–308. Dorf, R., Dorf, R. C., and Svoboda, J. A. (2011). Circuitos el´ectricos. Alfaomega Grupo Editor, S.A. de C.V. Eltayeb, A., Rahmat, M., Eltoum, M. M., MH, S. I., and Basri, M. (2019). Adaptive sliding mode control design for the 2-dof robot arm manipulators. In 2019 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE), pages 1–5. IEEE. Ferreira, C. C. T. and de Oliveira Serra, G. L. (2012). An approach for fuzzy frequency response estimation of flexible robot arm from experimental data. In 2012 IEEE International Conference on Industrial Technology, pages 166–171. IEEE. Ghanbari, M. and Abbasi, M. (2017). Identification of flexible robot arm system using extended volterra series by kautz orthogonal functions. International Journal of Engineering and Applied Sciences, 4(5):257452. Grau, A., Indri, M., Bello, L. L., and Sauter, T. (2017). Industrial robotics in factory automation: From the early stage to the internet of things. In IECON 2017-43rd annual conference of the IEEE industrial electronics society, pages 6159–6164. IEEE. Guo, Q., Yu, T., and Jiang, D. (2015). Robust h positional control of 2-dof robotic arm driven by electro-hydraulic servo system. ISA transactions, 59:55–64. Hashemi, S. M. and Werner, H. (2009). Parameter identification of a robot arm using separable least squares technique. In 2009 European Control Conference (ECC), pages 2199–2204. IEEE. Huang, K., Xian, Y., Zhen, S., and Sun, H. (2021). Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation. Mechanical Systems and Signal Processing, 155:107442. Li, X. and Yu, W. (2011). A systematic tunning method of pid controller for robot manipulators. In 2011 9th IEEE International Conference on Control and Automation (ICCA), pages 274–279. IEEE. Liu, H. (2020). Robot systems for rail transit applications. Elsevier. Medina-Camacho, S., Caballero-Mateus, S., and Coral-Enriquez, H. (2020). Modeling and identification of a 5-dof robotic manipulator. In Arcos-Legarda, J., Coral-Enriquez, H., and Gutierrez, F., editors, Mechatronics, Electronics and Telecommunications Advances Toward Industry 4.0, pages 27–39. Editorial Bonaventuriana, Bogot´a, Colombia. NI, Z., LIU, J., WU, Z., and SHEN, X. (2019). Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method. Chinese Journal of Aeronautics, 32(2):513–530. Ni, Z., Wu, S., Zhang, Y.-W., and WU, Z. (2020). Payload parameter identification of a flexible space manipulator system via complex eigenvalue estimation. International Journal of Aerospace Engineering, 2020:1–17. Oueslati, M., B´ear´ee, R., Gibaru, O., and Moraru, G. (2012). Improving the dynamic accuracy of elastic industrial robot joint by algebraic identification approach. In 2012 1st International Conference on Systems and Computer Science (ICSCS), pages 1–6. Ramos, F. and Feliu, V. (2008). New online payload identification for flexible robots. application to adaptive control. Journal of Sound and Vibration, 315(1):34–57. Sira-ram´ırez, H. J., Garc´ıa-Rodr´ıguez, C., Cort´es-Romero, J., and Luviano-Ju´arez, A. (2014). Algebraic identification and estimation methods in feedback control systems, volume 1. Wiley Online Library. Trapero-Arenas, J. R., Mboup, M., Pereira-Gonzalez, E., and Feliu, V. (2008). On-line frequency and damping estimation in a single-link flexible manipulator based on algebraic identification. In 2008 16th Mediterranean Conference on Control and Automation, pages 338–343. Wilson, J. D. and Buffa, A. J. (2002). F´ısica. Pearson Educación
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institution	Universidad de San Buenaventura
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spelling	Coral Enriquez, HoracioPaez Garcia, Julian YesidVargas Tenjo, Laura CristinaCharry Belén, Ricardo Andres2025-03-21T15:05:07Z2025-03-21T15:05:07Z2022El objetivo principal de este proyecto es el diseño de una metodología de identificación de parámetros y carga util en un manipulador robótico de 1-DOF y 2-DOF; esto con la finalidad de evaluar la mejora en desempeño del sistema de control al implementar la metodología de identificación de parámetros y carga útil diseñada.The main objective of this project is to design a parameter and payload identification methodology for a 1-DOF and 2-DOF robotic manipulator. This is done with the aim of evaluating the improvement in control system performance when implementing the designed parameter and payload identification methodology.PregradoIngeniero Mecatrónico99 páginasapplication/pdfinstname:Universidad de San Buenaventurareponame:Repositorio Institucional Universidad de San Buenaventurarepourl:https://bibliotecadigital.usb.edu.co/https://hdl.handle.net/10819/24018Universidad de San BuenaventuraBogotáFacultad de IngenieríaBogotáIngeniería MecatrónicaAmiot, P. and Marleau, L. (2006). M´ecanique classique ii. D´epartement de physique, de g´enie physique et d’optique. Universit´e de Laval, Qu´ebec, Canada.Becedas, J., Trapero, J., Mamani, G., Sira-Ramirez, H., and Feliu-Battle, V. (2006). A fast on-line algebraic estimation of a single-link flexible arm applied to gpi control. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, pages 85–90.Becedas, J., Trapero, J. R., Feliu, V., and Sira-Ram´ırez, H. (2009). Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 39(3):735–751.Beltr´an-Carbajal, F. and Silva-Navarro, G. (2013). Adaptive-like vibration control in mechanical systems with unknown paramenters and signals. Asian Journal of Control, 15(6):1613–1626.Beltran-Carbajal, F., Silva-Navarro, G., Sira-Ramirez, H., and Blanco-Ortega, A. (2010). Active vibration control using on-line algebraic identification and sliding modes control activo de vibraciones usando identificaci´on algebraica en l´ınea y modos deslizantes. Computacion y Sistemas, 13:313–330.Beltran-Carbajal, F., Silva-Navarro, G., and Trujillo-Franco, L. (2017). A sequential algebraic parametric identification approach for nonlinear vibrating mechanical systems. Asian Journal of Control, 19.Cambera, J. C., San-Millan, A., and Feliu-Batlle, V. (2015). Payload mass identification of a single-link flexible arm moving under gravity: an algebraic identification approach. Shock and Vibration, 2015.Chandan, S., Shah, J., Singh, T. P., Shaw, R. N., and Ghosh, A. (2021). Inverse kinematics analysis of 7-degree of freedom welding and drilling robot using artificial intelligence techniques. In Artificial Intelligence for Future Generation Robotics, pages 15–23. Elsevier.Craig, J. J. (2014). Introduction to Robotics: Mechanics and Control, volume 3. Pearson.Cruz, G. L., Alazki, H., and Hern´andez, R. G. (2018). Super twisting control for thermo’s catalyst-5 robotic arm. IFAC-PapersOnLine, 51(13):303–308.Dorf, R., Dorf, R. C., and Svoboda, J. A. (2011). Circuitos el´ectricos. Alfaomega Grupo Editor, S.A. de C.V.Eltayeb, A., Rahmat, M., Eltoum, M. M., MH, S. I., and Basri, M. (2019). Adaptive sliding mode control design for the 2-dof robot arm manipulators. In 2019 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE), pages 1–5. IEEE.Ferreira, C. C. T. and de Oliveira Serra, G. L. (2012). An approach for fuzzy frequency response estimation of flexible robot arm from experimental data. In 2012 IEEE International Conference on Industrial Technology, pages 166–171. IEEE.Ghanbari, M. and Abbasi, M. (2017). Identification of flexible robot arm system using extended volterra series by kautz orthogonal functions. International Journal of Engineering and Applied Sciences, 4(5):257452.Grau, A., Indri, M., Bello, L. L., and Sauter, T. (2017). Industrial robotics in factory automation: From the early stage to the internet of things. In IECON 2017-43rd annual conference of the IEEE industrial electronics society, pages 6159–6164. IEEE.Guo, Q., Yu, T., and Jiang, D. (2015). Robust h positional control of 2-dof robotic arm driven by electro-hydraulic servo system. ISA transactions, 59:55–64.Hashemi, S. M. and Werner, H. (2009). Parameter identification of a robot arm using separable least squares technique. In 2009 European Control Conference (ECC), pages 2199–2204. IEEE.Huang, K., Xian, Y., Zhen, S., and Sun, H. (2021). Robust control design for a planar humanoid robot arm with high strength composite gear and experimental validation. Mechanical Systems and Signal Processing, 155:107442.Li, X. and Yu, W. (2011). A systematic tunning method of pid controller for robot manipulators. In 2011 9th IEEE International Conference on Control and Automation (ICCA), pages 274–279. IEEE.Liu, H. (2020). Robot systems for rail transit applications. Elsevier.Medina-Camacho, S., Caballero-Mateus, S., and Coral-Enriquez, H. (2020). Modeling and identification of a 5-dof robotic manipulator. In Arcos-Legarda, J., Coral-Enriquez, H., and Gutierrez, F., editors, Mechatronics, Electronics and Telecommunications Advances Toward Industry 4.0, pages 27–39. Editorial Bonaventuriana, Bogot´a, Colombia.NI, Z., LIU, J., WU, Z., and SHEN, X. (2019). Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method. Chinese Journal of Aeronautics, 32(2):513–530.Ni, Z., Wu, S., Zhang, Y.-W., and WU, Z. (2020). Payload parameter identification of a flexible space manipulator system via complex eigenvalue estimation. International Journal of Aerospace Engineering, 2020:1–17.Oueslati, M., B´ear´ee, R., Gibaru, O., and Moraru, G. (2012). Improving the dynamic accuracy of elastic industrial robot joint by algebraic identification approach. In 2012 1st International Conference on Systems and Computer Science (ICSCS), pages 1–6.Ramos, F. and Feliu, V. (2008). New online payload identification for flexible robots. application to adaptive control. Journal of Sound and Vibration, 315(1):34–57.Sira-ram´ırez, H. J., Garc´ıa-Rodr´ıguez, C., Cort´es-Romero, J., and Luviano-Ju´arez, A. (2014). Algebraic identification and estimation methods in feedback control systems, volume 1. Wiley Online Library.Trapero-Arenas, J. R., Mboup, M., Pereira-Gonzalez, E., and Feliu, V. (2008). On-line frequency and damping estimation in a single-link flexible manipulator based on algebraic identification. In 2008 16th Mediterranean Conference on Control and Automation, pages 338–343.Wilson, J. D. and Buffa, A. J. (2002). F´ısica. 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Esquema de identificación algebraica para la estimación de parámetros y carga útil en un manipulador robótico de 1-DOF

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