Kinematic Control for Trajectory Tracking of a 3R Manipulator
Abstract
This work presents the design of a control strategy to achieve trajectory tracking by the end effector of a 3R manipulator robot. The control strategy design is based on the kinematic model of the robot, utilizing the Jacobian. Theoretical results are validated both numerically and experimentally. The implementation is carried out on a platform with an Optitrack camera system to obtain the position of the end effector, using Matlab/Simulink for real-time control signal calculations.
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References
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Copyright (c) 2024 Alan Fernando Domínguez-Prado, Ángel Isaí Hernández-Montalvo, Jesús Santiaguillo-Salinas, Hiram Nezahualcóyotl García-Lozano, Rafael Fernando González-Zárate
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