Ingeniería En Comunicaciones y Electrinica

<jats:title>Abstract</jats:title> <jats:p>In this paper, a specialized software for optimum gear design is presented. This optimum is found through a logical solution search algorithm, rather than general optimization techniques. The logical search is based upon the constraints and needs set by the user, who defines the solution space and the search trajectory. For each problem, the solution will be the less expensive according to specific constraints. Calculation routines were based on AGMA standards, and input data routines were conceived to be as helpful as possible. A complete help routine is included on each part of the software and every input data is foolproof. It also includes a routine for intermediate results analysis that allows the user to verify every iteration.</jats:p>

This paper is concerned with the design and experimental assessment of, both, feedback linearization and sliding mode control techniques to the tracking trajectory problem of a flexible-joint robotic arm for a smooth rest to rest maneuver. The robust improvement of these controllers is analyzed by means of additional integral compensation, in which an alternative sliding surface was proposed for the control of the flexible arm. A feedback linearization of the nonlinear dynamic equation of the robot arm is computed in order to get a full-state non-linear feedback control law. On the other hand, it is proposed a second order sliding mode control with an integral term in the sliding surface, which improves the robustness of the controller sliding surface. Some experimental evaluations that include the addition of external unmodeled perturbations to test the enhancement of the robustness property show the improvements and effectiveness of the proposed control laws in disturbance rejection tasks. The controllers were implemented using exclusively position measurements and time derivatives approximations.

Control I Conceptos básicos ¿Qué es el control (o control automático o automática o automatización)? Es la disciplina de la ingeniería que se concentra en la comprensión de sistemas de diversa naturaleza a través del modelado y análisis de su comportamiento dinámico para hacer que se comporten de cierta manera.