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Modelado y control con compensación de fricción de un sistema pendubot

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Modelado y control con compensación de fricción de un sistema pendubot

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Soto, I.; Campa, R.; Sánchez-Mazuca, S. (2020). Modelado y control con compensación de fricción de un sistema pendubot. Revista Iberoamericana de Automática e Informática industrial. 18(1):39-47. https://doi.org/10.4995/riai.2020.13083

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/160617

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Title: Modelado y control con compensación de fricción de un sistema pendubot
Secondary Title: Modeling and control with friction compensation of a pendubot system
Author: Soto, I. Campa, R. Sánchez-Mazuca, S.
Issued date:
Abstract:
[EN] The pendubot is a two degree of freedom mechanical underactuated system that is used as an educational and research platform in the areas of robotics and control. It is considered as an  underactuated system because ...[+]


[ES] El pendubot es un sistema mecánico subactuado de dos grados de libertad que comúnmente se utiliza como plataforma educacional y de investigación en las áreas de robótica y control. Se le considera como un sistema ...[+]
Subjects: Modelado , Control , Fricción , Compensación , Sistemas mecánicos , Modelling , Friction , Compensation , Mechanical systems
Copyrigths: Reconocimiento - No comercial - Compartir igual (by-nc-sa)
Source:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2020.13083
Publisher:
Universitat Politècnica de València
Publisher version: https://doi.org/10.4995/riai.2020.13083
Thanks:
Este trabajo fue apoyado parcialmente por el Tecnológico Nacional de México y la Universidad Autónoma de Ciudad Juárez.
Type: Artículo

References

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Canudas de Wit, C., Olson, H., Astrom, K., Lischinsky, P., 1995. A new model for control of system with friction. IEEE Transactions on Automatic Control 40, 419-425. https://doi.org/10.1109/9.376053

Courtney-Pratt, J., Eisner, E., 1957. The effect of a tangential force on the contact of metallic bodies. Proceedings of the Royal Society A 238, 529-550. https://doi.org/10.1098/rspa.1957.0016 [+]
Armstrong-Helouvry, B., 1991. Control of Machines with Friction. Kluwer Academic Publishers. https://doi.org/10.1007/978-1-4615-3972-8

Canudas de Wit, C., Olson, H., Astrom, K., Lischinsky, P., 1995. A new model for control of system with friction. IEEE Transactions on Automatic Control 40, 419-425. https://doi.org/10.1109/9.376053

Courtney-Pratt, J., Eisner, E., 1957. The effect of a tangential force on the contact of metallic bodies. Proceedings of the Royal Society A 238, 529-550. https://doi.org/10.1098/rspa.1957.0016

Dahl, P., 1968. A solid friction model. Technical report TOR-0158(3107-18)-1, The Aerospace Corporation. https://doi.org/10.21236/ADA041920

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Morin, A., 1833. New friction experiments carried out at Metz in 1831-1833. Proceedings of the French Royal Academy of Sciences 4, 1-128.

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Rabinowics, E., 1956. Stick and slip. Scientific American 194, 109-118. https://doi.org/10.1038/scientificamerican0256-109

Sanchez-Mazuca, S., Campa, R., 2013. An improvement proposal to the static friction model. Mathematical Problems in Engineering 2013. https://doi.org/10.1155/2013/946526

Sanchez-Mazuca, S., Soto, I., Campa, R., 2015. Modeling and control of a pendubot with static friction. In: Cecarelli, M., Hernandez Martínez, E. E. (Eds.), Multibody Mechatronic Systems: Proceedings of the MUSME Conference held in Huatulco, Mexico, October 21-24, 2014. Springer, pp. 229- 240. https://doi.org/10.1007/978-3-319-09858-6_22

Spong, M. W., Block, D. J., 1995. The pendubot: a mechatronic system for control research and education. In: Proceedings of the IEEE Conference on Decision and Control. New Orleans, LA, USA.

Stribeck, R., 1902. The key qualities of sliding and rolling bearings. (in German) Zeitschrift Des Vereins Deutscher Ingenieure 46, 1342-1348.

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Xin, X., Kaneda, M., Oki, T., 2002. The swing-up control for the pendubot based on energy control approach. In: Proceeding of the IFAC World Congress. Barcelona, Spain. https://doi.org/10.3182/20020721-6-ES-1901.00889

Zhang, M. J., Tarn, T. J., 2002. Hybrid control of the pendubot. IEEE Transactions on Mechatronics 7, 79-86. https://doi.org/10.1109/3516.990890

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