Estudio, control e implementación de sistemas robóticos avanzados: diseño y simulación de un control de seguimiento de trayectoria para un robot paralelo virtual.

Abstract

The present work focuses on the trajectory control of the 3UPS+1RPU parallel robot used within the PIGR-20-01 Research Project. This project is based on the movement of the moving platform of the parallel robot so that it can be used for the generation of rehabilitation exercises. For this purpose, this parallel robot is implemented, but in a virtual way in the simulation environment of the CoppeliaSim software, for which the inverse kinematic model developed in previous works related to the Research Project is used. The design of the robot is also analyzed already focused on the simulation aspect, but this work only focuses on the mechanical part and morphology of the 3UPS+RPU robot where the virtual model of the 3UPS+RPU parallel robot is created in the SolidWorks software to later export it to the CoppeliaSim software and add control. A cascade control scheme is used, formed by two fundamental blocks, the internal one constituted by the position controllers of each of the linear actuators belonging to the respective links, while the external one is the trajectory controller. Additionally, the use of CoppeliaSim and Matlab software is a fundamental part of this degree work. On the one hand, the trajectory control scheme is implemented in Matlab-Simulink, while on the other hand there is CoppeliaSim, where the virtual model of the 3RPU+1UPS parallel robot is available, and thanks to the co-simulation between these two softwares, the performance of the control architecture can be executed and checked.