Bibliographic citations
Maraví, R., (2004). Diseño e implementación de un sistema de control no lineal multivariable por realimentación de estado aplicado a un robot manipulador esféricode 2 grados de libertad [Tesis, Universidad Nacional de Ingeniería]. http://hdl.handle.net/20.500.14076/408
Maraví, R., Diseño e implementación de un sistema de control no lineal multivariable por realimentación de estado aplicado a un robot manipulador esféricode 2 grados de libertad [Tesis]. : Universidad Nacional de Ingeniería; 2004. http://hdl.handle.net/20.500.14076/408
@mastersthesis{renati/254090,
title = "Diseño e implementación de un sistema de control no lineal multivariable por realimentación de estado aplicado a un robot manipulador esféricode 2 grados de libertad",
author = "Maraví Pinto, Ronald Divio",
publisher = "Universidad Nacional de Ingeniería",
year = "2004"
}
This thesis deals with design and implementation of a nonlinear multivariable control system, which employs the feedback linearization methodology. Such a nonlinear control system is applied to a spherical robot manipulator of 2DOF (Two-Degrees-of-Freedoms). This manipulator is composed of a DC servomotor with optical encoder that drives the rotary motion of the base of a metallic disk which is fixed to a metallic bar. Another DC servomotor with optical encoder is mounted on the free end of the bar and employed to drives the rotary motion of a metallic link. The goals imposed are: process modelling, design of the multivariable (two inputs and two outputs) control system, simulation, and real time implementation. The experimental results demonstrate that the process outputs are capable of tracking desired trajectories. The spherical robot manipulator used in this thesis work was conceived, de¬signed and constructed by the research team for control systems of the Graduate School of the Faculty of Electrical and Electronic Engineering. The members of such a team are Professor Arturo Rojas Moreno, and graduate students Ronald Maravi Pinto and Edgardo Espinoza Malqui.
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