Observatorio de I+D+i UPM

Descripción
Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elongation of the actuating wires, which can cause loss of precision or accuracy. This work is focused on improving the stability of the final effector position of a planar CDPR suspended by two cables, using a PID control that cancels the oscillatory variations of the position end effector. The control system is validated by inputting disturbances within the actuating cables.
Internacional	Si
Nombre congreso	2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)
Tipo de participación	960
Lugar del congreso	Medellin, Colombia
Revisores	Si
ISBN o ISSN	978-1-5386-6962-4
DOI	10.1109/CCAC.2019.8920840
Fecha inicio congreso	15/10/2019
Fecha fin congreso	18/10/2019
Desde la página	1
Hasta la página	5
Título de las actas	2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)

Esta actividad pertenece a memorias de investigación

• Autor: Marco Alexander Carpio Aleman (UPM)
• Autor: Juan Placencia (Universidad Politécnica Salesiana)
• Autor: José Aller (Universidad Politécnica Salesiana)
• Autor: Roque Jacinto Saltaren Pazmiño (UPM)
• Autor: Alejandro Rodriguez Barroso (UPM)
• Autor: Gerardo Alejandro Portilla Tuesta (UPM)
• Autor: Juan Sebastián Cely Gutiérrez (UPM)

• Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial