Estrategia de control para robots manipuladores con realimentación visual y plataforma electro-neumática de 3gdl

in this paper a control scheme in the task space is presented for a 3dof electro-pneumatic platform and servo-visual system. the control scheme is based on the measurement of system task space state. the control system considers two loops in cascade, an internal loop solving the robot's joint control and an external loop the task space control. a stability analysis is developed under the conditions that it is possible to approximate the dynamic effect of the internal loop as an external loop time delay. to illustrate the proposed controller, the control system stability and its performance, experimental results using a 3dof pneumatic parallel robot and servo-visual system are presented. experimental results confirm the expected step response in the task space. the control scheme presented opens a new research field in the task space control with algorithms for the solution of, trajectory control and feed-forward control.