Implementación del modelo cinemático y dinámico y control de movimiento de un mecanismo planar 2R con componentes elásticos en las articulaciones
Archivos
Autores
Caicedo Amaranto, Yesid Alfonso
Director
Tipo de contenido
Trabajo de grado - Maestría
Idioma del documento
EspañolFecha de publicación
2018-03-07
Título de la revista
ISSN de la revista
Título del volumen
Documentos PDF
Resumen
En esta tesis se desarrollan los modelos matemáticos de la cinemática y dinámica y una estrategia para el control de movimiento de un mecanismo planar 2R, el cual imita el movimiento de la cadera y la rodilla en el plano sagital durante la marcha humana y posee componentes elásticos en las articulaciones. Se inicia con una revisión bibliográfica de algunos métodos para el control de movimiento de Sistemas de Accionamiento Flexible, haciendo énfasis en aplicaciones robóticas, dispositivos de rehabilitación de miembro inferior y Actuadores Elásticos Seriales (SEA), correspondiendo estos últimos a los utilizados en el mecanismo. A continuación se desarrollan los modelos matemáticos, determinando la cinemática directa a partir del método de Denavit-Hartenberg y la dinámica inversa a partir del método de LagrangeEuler. Estos modelos se implementan posteriormente para predecir el movimiento de los actuadores en función del movimiento de las articulaciones, cuyos resultados se comparan con los obtenidos en pruebas realizadas al equipo real. Finalmente se desarrolla la estrategia para el control de movimiento del mecanismo, para lo cual se realizaron pruebas de desempeño a los controladores internos en los actuadores; a partir de estos resultados se desarrolló, implementó y evaluó un algoritmo basado en una forma simplificada del control adaptativo por planificación de ganancias, usando dos puntos de ajuste de los parámetros en los controladores internos y tomando como criterio de evaluación las desviaciones angulares entre cada articulación y su actuador.
Abstract: In this thesis the mathematical models of the kinematics and dynamics, and a strategy for the movement control of a 2R planar mechanism are developed; this mechanism imitates the movement of hip and knee in sagittal plane during the human gait and it has elastic components in the joints. It begins with a literature review of some methods for movement control of Compliant Actuation Devices, emphasizing robotic applications, lower limb rehabilitation devices and Serial Elastic Actuators (SEA), the latter corresponding to those used in the mechanism. Then the mathematical models are developed, determining the direct kinematics from Denavit-Hartenberg method and the inverse dynamics from Lagrange-Euler method. These models are subsequently implemented to predict the actuators movement from the joints movement, whose results are compared with those obtained in performance tests on the real equipment. Finally, the strategy for the movement control of the mechanism is developed, for which performance tests on the internal controllers in the actuators were made; based on these results, an algorithm based on a simplified form of adaptive control for gains planning was developed, implemented and evaluated, using two adjustment points of the parameters in the internal controllers and taking as an evaluation criterion the angular deviations between each joint and its actuator.
Abstract: In this thesis the mathematical models of the kinematics and dynamics, and a strategy for the movement control of a 2R planar mechanism are developed; this mechanism imitates the movement of hip and knee in sagittal plane during the human gait and it has elastic components in the joints. It begins with a literature review of some methods for movement control of Compliant Actuation Devices, emphasizing robotic applications, lower limb rehabilitation devices and Serial Elastic Actuators (SEA), the latter corresponding to those used in the mechanism. Then the mathematical models are developed, determining the direct kinematics from Denavit-Hartenberg method and the inverse dynamics from Lagrange-Euler method. These models are subsequently implemented to predict the actuators movement from the joints movement, whose results are compared with those obtained in performance tests on the real equipment. Finally, the strategy for the movement control of the mechanism is developed, for which performance tests on the internal controllers in the actuators were made; based on these results, an algorithm based on a simplified form of adaptive control for gains planning was developed, implemented and evaluated, using two adjustment points of the parameters in the internal controllers and taking as an evaluation criterion the angular deviations between each joint and its actuator.
Abstract
Palabras clave
Mecanismo planar 2R ; Sistemas de accionamiento flexible ; Actuadores elásticos seriales ; Trayectorias articulares ; Marcha humana ; Controladores internos ; Desviaciones angulares ; 2R planar mechanism ; Compliant actuation devices ; Serial elastic actuators ; Joint trajectories ; Human gait ; Internal Controllers ; Angular deviations